By Topic

An analytical expression for the generalized forces in multibody Lagrange equations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Kool, P. ; Dept. of Mech., Vrije Univ. Brussel, Brussels, Belgium

This paper describes how the partial derivative of the kinetic energy, with respect to the generalized coordinates in the Lagrange equations, can be obtained in analytic form for structures consisting of rigid links connected by lower pair joints. We will prove that the expression for the derivative involves the time derivative of the line coordinates of the geometric lines, coinciding with the joint axes. As a consequence, the generalized force in the Lagrange equations can be written as a function of the inertia matrices and the line coordinates of the joint axes. The time derivative of the line coordinates can be expressed by using the adjoint matrix of the line vector.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 2 )