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