Scribd Logo
Upload

Welcome to Scribd!

  • Dynamics Craig

    Uploaded by

    Milad Hassani
    4 views78 pages
    The document discusses the Pendubot, an underactuated mechanical system with two degrees of freedom. It was invented by M.W. Spong and D.J. Block. The Pendubot system is modeled using Lagrangian mechanics, which involves defining a Lagrangian function and using Lagrange's equations.

    Original Description:

    Original Title

    Dynamics-Craig

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    The document discusses the Pendubot, an underactuated mechanical system with two degrees of freedom. It was invented by M.W. Spong and D.J. Block. The Pendubot system is modeled using Lagrangian mechanics, which involves defining a Lagrangian function and using Lagrange's equations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    4 views78 pages

    Dynamics Craig

    Uploaded by

    Milad Hassani
    The document discusses the Pendubot, an underactuated mechanical system with two degrees of freedom. It was invented by M.W. Spong and D.J. Block. The Pendubot system is modeled using Lagrangian mechanics, which involves defining a Lagrangian function and using Lagrange's equations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    of 78

    Example 2

    Lagrangian
    g g function:

    Lagrange’s equations:
    P d b t
    Pendubot
    The Pendubot is an underactuated mechanical system
    with two degrees of freedom, which has been invented
    and designed by M.W. Spong and D.J. Block.
    Modeling the Pend
    Pendubot
    bot S
    System
    stem b
    by
    Using Lagrange’s Equation
    Lagrangian function:
    Lagrange’s
    Lagrange s equations:

    You might also like