Dynamic model example

This notebook illustrates the iterative Newton-Euler derivation of a manipulator's dynamics. This notebook assumes that the definitions in "dynamics_defs.nb" have already been evaluated.

Short hand display function

Manipulator specifications

Outward propagation

Inward propagation

Equivalent dynamic model

Is the mass matrix M(Θ) positive definite?

Created by Mathematica  (October 21, 2003)