Introductory dynamics examples

This notebook simulates the dynamic behavior of two simple manipulators (one link and planar 2-link). It is intended to illustrate how the dynamic model of a system becomes significantly more complex as multiple bodies interact with respect to one another. Specifically, the dynamic model for a one-link manipulator is significantly less complex than for a two-link planar manipulator. This notebook also illustrates in the last section that using Euler integration to numerically solve differential equations is, in general not a good idea, since error can quickly accumulate giving wrong numerical results. This notebook assumes that the definitions in "dynamics_defs.nb" have already been evaluated.

Created by Mathematica  (October 21, 2003)