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T Consider a PR arm with configuration variables q1,92 the Lagrangian is given by: 1 L= K – P: m, + mg ỉ +; mlž +13 ġ² – mglzġ42 sin q, – mgg l, +/, sin q, - where mef =m2 +m, Derive the equations of motion in standard form.

T Consider a PR arm with configuration variables q1,92 the Lagrangian is given by: 1 L= K – P: m, + mg ỉ +; mlž +13 ġ² – mglzġ42 sin q, – mgg l, +/, sin q, - where mef =m2 +m, Derive the equations of motion in standard form.

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T Consider a PR arm with configuration variables q,92 the Lagrangian is given by: 1 1 m, + m i +, ml} +I3 4¿ – mglzġiġ2 sin q, – mg l, +l3 si L= K – P m¡ +mef 2 nq2 where mof т, +т, Derive the equations of motion in standard form.
Transcribed Image Text:T Consider a PR arm with configuration variables q,92 the Lagrangian is given by: 1 1 m, + m i +, ml} +I3 4¿ – mglzġiġ2 sin q, – mg l, +l3 si L= K – P m¡ +mef 2 nq2 where mof т, +т, Derive the equations of motion in standard form.
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