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项目作者： 7dj7

项目描述 ：
Calculates the dynamic equations of motion of a N DOF robot arm using the Lagrangian formulation.
高级语言： MATLAB
项目地址: git://github.com/7dj7/Robot_Dynamics_Lagrangian_formulation.git


Robot_Dynamics_Lagrangian_formulation

Calculates the dynamic equations of motion of a N DOF robot arm using the Lagrangian formulation

Description of files

‘compute_dh_matrix.m’ - function to calculate the homogeneous transformation matrix according to the DH Parameter

‘inertia_tensor.m’ - function to initialize the inertia tensor with respect to the body fixed frame

‘complete_dynamics.m’ - main script file to calculate the dynamic equations of motion (torqe/force equations)

Notes

As an example, the dynamics of a 7 DOF robot arm called the Swayer Arm has been calculated

sawyer_figure

One needs to change the DOF value and the DH matrix in the ‘complete_dynamics.m’ file in order to obtain the desired equations of motion