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 http://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, Chapter 8:  Dynamics...  

Playlist for all book videos: https://www.youtube.com/playlist?list...

YouTube channel with all playlists:    / kevinl2145  

Wiki for the book, including software and other supplements: http://modernrobotics.org

Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializati...