A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method
A partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of mot...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/14/5/54 |
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