Question
(lagrangian mechanics-Ordinary differantial equations)
lagrangian formulation of dynamics
- what is the first part of the matrix? "Fill"

Transcribed Image Text:X trajectory.m x RPmanipulator.m x
RPmanipulator (q, u, ml, m2,I1,12,rl)
LU.m X
findswitch.m
abc.m
X trajectory2.m x +
1
function RHS =
* creates the righthand side of the Lagrange dynamics converted to ordinary
% differential equations
Sthe main equation was given in the general form qdotdot, it was 2nd order,
SWe need to define extra variables to get it down to Ind order:
$ q= ql q2 qldot q2dot
* RHS: right hand side qdot=RHS
* RHS1=qldot
* RHS2-q2dot
* RHS3=qldotdot=from Lagrange equation
* RHS4=q2dotdot=from Lagrange equation
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g=9.8; gravitational acc.
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RHS=[$FILL%;
g (4) ;
- (2*m2 *q (2) *q (3) *q(4) +g* (ml*rl+m2*q(2)) *cos (g (1)) -u (1) )/ (Il+12+ml*rl^2+m2*q(2) ^2);
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- (-m2*g (2) *a(3) ^2+g*m2*sin (q (1))-u (2))/m2;
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end
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