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Determine for the following robotic structure the equations of motion using the Newton-Euler Algorithm and Lagrange formulation, respectively. It is a simplified version of
Determine for the following robotic structure the equations of motion using the Newton-Euler Algorithm and Lagrange formulation, respectively. It is a simplified version of the first three links of the UR5, as shown in Figure 1. Do not take into consideration the actuators, the frictions and the external forces. Assume that the links are symmetric around their center of mass. There are no forces acting on the end- effector. Given: 4 = 1 = 1m, l3 = 0.5m muink1= muink2= 2kg, munk3= 1kg [10 00 link1=link21 Given initial conditions: -1. owo = = 0 4 [50 01 0 10 0,3link2 = 0 5 0 0 10 Lo 0 51 0 = vo = 0 Figure 1. A point to point motion of a manipulator Determine for the following robotic structure the equations of motion using the Newton-Euler Algorithm and Lagrange formulation, respectively. It is a simplified version of the first three links of the UR5, as shown in Figure 1. Do not take into consideration the actuators, the frictions and the external forces. Assume that the links are symmetric around their center of mass. There are no forces acting on the end- effector. Given: 4 = 1 = 1m, l3 = 0.5m muink1= muink2= 2kg, munk3= 1kg [10 00 link1=link21 Given initial conditions: -1. owo = = 0 4 [50 01 0 10 0,3link2 = 0 5 0 0 10 Lo 0 51 0 = vo = 0 Figure 1. A point to point motion of a manipulator
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