Lagrange II Dynamics and that of Forces Exemplified on a Basic Robot, 2 DoF

Abstract

The paper presents two dynamic methods applied to a basic articulated robot, 2 DoF, the first being an original adaptation of the type II Lagrange equations and the second being a dynamic method based on the influence of the forces in the robot mechanism. Both methods are original, as they were designed and applied by the author to a 2 DoF basic robot. In the presentation, the results obtained by the two different dynamic methods are compared. It is interesting that although the differential equations obtained by the two methods presented in the paper are totally different, the results obtained with both models are very close in values. All simulations were processed with the help of Mathcad professional software.