Energía potencial

Esta dada por la ecuación

n
U =−∑ mi cT i g
i=1

n
1 T^
L=T −U =∑
i=1
[ 2
θ̇ I f θ̇+ m c T i g
i
]
n

∑ iij θ̈ j +hi + γi=τ i

i=1

n n
∂ iij 1 ∂ iik
hi =∑ ∑
j =1 k=1
( −
∂ θk 2 ∂θi j k
θ̇ θ̇ )
n
γ i=−∑ m j g T j (i)
c, j
i =1

I θ̈+ h+γ =τ i

Calculamos los parámetros hi :

3 3
∂ iij 1 ∂ iik
hi =∑ ∑
j =1 k=1
( −
∂ θk 2 ∂θi j k
θ̇ θ̇ )
1 ∂ i 11 2 ∂i 12 1 ∂ i 22 2 ∂i 13 1 ∂ i 33 2 ∂i 12 ∂ i 23 ∂ i13 ∂i 11 ∂ i11
h1 =
2 ∂θ 1
θ̇1 + −
∂ θ2 2 ∂θ 1 (
θ̇2 + −
∂ θ3 2 ∂ θ1 ) (
θ̇3 + − +
∂ θ3 ∂ θ1 ∂θ 2 ) (
θ̇3 θ̇2 +
∂ θ2
θ̇ 1 θ̇2 + ) θ̇ θ̇
∂ θ3 3 1

l1 l2 S 2 C 1 l l C S l l S l l S C
h1 =− m2 ( 2 2 ) ( 2 ) ( 2 )
+ m3 l 1 l 2 S 2+ m3 1 3 1 2 θ̇22− m3 2 3 3 θ̇23− m3 l 2 l3 S3 +m3 1 3 2 3 θ̇3 θ̇ 2−( m2 l 1 l 2 S2 +2 m3 l 1 l 2 S 2+

∂ i12 1 ∂i 11 2 ∂ i22 2 ∂i 23 1 ∂ i 33 2 ∂ i12 ∂i 13 ∂ i 23 ∂i 22 ∂i 22

h2 = ( −
∂θ 1 2 ∂ θ2
θ̇1 +
∂θ 2 )
θ̇2 + −
∂ θ3 2 ∂ θ2 (
θ̇ 3+ − +
∂θ3 ∂ θ2 ∂ θ2 ) (
θ̇1 θ̇3 +
∂ θ1
θ̇2 θ̇1 +) θ̇ θ̇
∂ θ3 2 1

l 1 l 3 C 2 S1 +1 1 l l S l l S C
(
h2 = −m3
2 2 21 2 3 ) ( 2 ) ( 2 )
m l l 2 S2 +m3 l 1 l 2 S2 + m l 1 l 3 C3 S2 θ̇21 + −m3 2 3 3 θ̇23 + −m3 l 2 l 3 S 3+ m3 1 3 2 3 θ̇1 θ̇3 +−m3 l
 ∂ i 31 1 ∂i 11 2 ∂i 32 1 ∂ i 22 2 1 ∂i 33 2 ∂i 31 ∂ i 12 ∂i 32 ∂ i 33 ∂ i33
h3 = ( −
∂θ 1 2 ∂ θ3 ) (
θ̇1 + −
∂ θ2 2 ∂ θ3
θ̇2 +)2 ∂ θ3
θ̇3 + − +
∂ θ2 ∂ θ3 ∂ θ1 (
θ̇2 θ̇ 1+
∂θ 1
θ̇ 3 θ̇1 +) θ̇ θ̇
∂θ 2 3 2

1 1 l l S C
2 2 ( 2 )
h3 = ( m2 l 1 l 2 S 2+ 2m3 l 1 l 2 S2 +m3 l 1 l 3 C 3 S 2) θ̇12+ m3 l 2 l 3 S3 θ̇22 + −m3 1 3 2 3 +m3 l 2 l 3 S3 θ̇2 θ̇1

Calculamos los parámetros γ i:

n
γ i=−∑ m j g T j (i)
c, j
i =1

Donde −g=[ 0 −g 0 ] T es la aceleración de la gravedad

γ 1=−m1 g T j (1) T (1) T (1)

c ,1−m2 g j c , 2−m 3 g j c ,3

l1 l l
γ 1=m 1 g ( )
2 ( ) (
C 1 +m 2 g l 1 C 1+ 2 C 12 +m 3 g l 1 C 1+l 2 C12 + 3 C 123
2 2 )
γ 2=−m1 g T j (2c ,1) −m2 gT j (2) T (2)
c , 2−m 3 g j c ,3

γ 2=m2 g ( l2 C )+m g (l C + l2 C )
2
12 3 2 12
3
123

γ 3=−m1 g T j (3c ,1) −m2 gT j(3) T (3)

c, 2−m 3 g j c ,3

l3
γ 3=m3 g ( C
2 123 )