Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces the Lagrangian approach to finding the dynamic equations of motion of robot and describes the structure of the dynamic equations, including the mass matrix, velocity-product terms (Coriolis and centripetal terms), and potential terms (e.g., gravity).
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
Playlist for Chapter 8: • Modern Robotics, Chapt...
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Wiki for the book, including software and other supplements: modernrobotics.org
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[@17Koche]

excellent video. I checked the math and it makes a lot more sense to me than some of the other papers I have read.

[@kao-j3y]

Maybe you read the derivation of the langrange equations, i mean, understanding why this formulas must be true. That part is not really intuitive i think.

[@SpaceStickwithSpaceTick]

These videos have given me a lot more respect for mechanical engineers as an electrical engineering student. This math is pretty tough!

[@mattbiss6414]

An amazing explanation, thank you!!!

[@niallwalsh8754]

Excellent explanation, thank you!

[@EducativeStoriesForChilren]

Thank you so much for your Effort!! YOUR VIDEOS helped me a lot

[@eliecerecology]

this super clear, thanks

[@ahmedbenyoucef3238]

thank you very much, great explaining

[@sudhanshuvaishampayan8971]

In the torque equation at 5:05 it should be c(theta)*theta dot instead of c(theta, theta dot) right?

[@rituranjan2821]

Sir,kindly upload the Lagrangian formulation of two leg robot

[@hariharanramamurthy9946]

how did you get L comp sir (referred book still not clear)

[@kamleshshan4158]

What are the advantages of DH convention over analytical method of frame transformation matrix and transformation? Sir , please solve this question?

[@himanshushekhar4590]

can you please explain ? why didnt you consider kinetic energy of mass due to rotation ? thank you

[@mohamedbadra295]

+1

[@surajsapkal1293]

+1

[@cemalpturk9097]

I'm not entirely sure but the reason may be that since all the mass is concentrated on a single point for each link, the inertia tensor will have a 0 value thus cancelling out the rotational part. Correct me if I'm wrong.

[@hoangleminhhoang101]

Where do you get the Lcomp from? please be more specific

[@aspectparadox6654]

How is L comp derived?

[@쌀떡국]

로봇제어 과목 수강생은 이 영상을 보러 올것이다

[@이경도-l2b]

어이 ㄱㅇㅎ이~~ ㄹㅂㅎㅂ 정모ㅋㅋ

[@kwon_line]

개추

[@Happyman30]

오늘따라 떡국이 먹고싶군요... 왔다 갑니다.

[@kwon_line]

@@Happyman30 떡국 좋지요 ㅎㅎ 사천식 떡국 기대하겠습니다

[@Happyman30]

@@kwon_line 다시다 넣습니다.

[@MAJIDKHAN-pn5ew]

Thank you sir

[@RoboTechJet]

Sir can you drive the same for three link

[@mahmoudabdallah910]

if we have a 3d articulated robot, v=(xdot+ydot+zdot)???

[@barssoyer5404]

mass center points m1 & m2 are wrongly picked. they supposed to be in the very middle of the each link if material of the link is homogenous, if not, it is still impossible to pick those points w.r.t. laws of physics.

[@jadoei13]

Or you just assume the links to massless with a mass on the very end of it, similar to a frictionless pendulum with a massless rod

[@hazemahmed8333]

Yes Thank you, I was confused too

[@badnoodlez]

Love when novices chime in

[@vishwanathbijalwan5172]

Best

[@danielmaier6665]

At the slide showing the taus there is a mistake The 2nd row of tau2 should be -m2*L1*L2*sin(theta2)*theta2_dot*theta1_dot

[@yinebebtar]

👍

[@ahmedkdk]

I swear this thing is giving me the creeps

[@ay-automation]

kzbin.info/www/bejne/mWPUeYSngpannLc

[@phdben2523]

hey dont disrespect the supreme leader called Mr Le Grange from dmc ait class, come on!! he has a PTSD in random technology crap and he has a million dollars in debt i mean assets! 💩

[@ratshitpartners5757]

oh poo.... aerodynamics simulation....