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Unformatted text preview: Figure 1: A twolink Robot (a) Derive the kinetic energy for the robot. (b) Derive the potential energy for the robot. (c) Derive the generalized forces acting on the robot and hence, derive the equations of motion for the robot. 1 2. The equations of motion of a robot are given by: ( 1 + 2 3 cos q 2 ) q 1 + ( 2 + 3 cos q 2 ) q 22 3 sin q 2 q 1 q 2 3 sin q 2 q 2 2 + 5 cos q 1 + 6 cos( q 1 + q 2 ) = u 1 , ( 2 + 3 cos q 2 ) q 1 + 4 q 2 + 3 sin q 2 q 2 1 + 6 cos( q 1 + q 2 ) = u 2 . Derive a control scheme to ensure that x 1 tracks sin t and x 2 tracks cos t asymptotically. 2...
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 Spring '09
 SwaroopDarbha
 Mechanical Engineering

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