The Euler-Lagrange equation: dLdx=ddtdLd˙x. is equivalent to Newton's second law of motion which states: F=m→a. I will not go into the pure maths way since ... ... <看更多>

I'm trying to calculate Euler-Lagrange equations for a robotic structure. I'll use q to indicate the vector of the joint variables. In my code, I use ... <看更多>