SCE 571 · L8

Chapter 8 · Serial Manipulator Dynamics I

Explainer series for notes/robot dynamics/SCE571_Topic2_Lec8.pdf (RD8, 21 slides) and its handwritten class notes SCE571_Topic2_Lec8_Notes.pdf (RD8n, 3 pages). The slides stop at the kinetic energy T = ½ q̇ᵀ M(q) q̇; the notes carry on into the Euler–Lagrange equations, which Lecture 9 (RD9 s.20–23) then simplifies into the Coriolis form. Watch in order; each part assumes the ones before it.

1. 1
   
   The Energy of One Moving Link

   6:42
2. 2
   
   From Links to the Mass Matrix

   4:47
3. 3
   
   The Two-Link Arm, by Hand

   4:57
4. 4
   
   The Euler–Lagrange Machine

   4:35
5. 5
   
   The Arm's Equations of Motion

   5:04