中南大学中南大学蔡自兴，谢蔡自兴，谢 斌斌zxcai,2010机器人学基础机器人学基础第四章第四章 机器人动力学机器人动力学1Fundamentals of Robotics1Contents Introduction to Dynamics Rigid Body Dynamics Lagrangian Formulation Newton-Euler Formulation Articulated Multi-Body Dynamics2Ch.4 Manipulator Dynamics23Ch.4 Manipulator DynamicsIntroductionCh.4 Manipulator DynamicsManipulator Dynamics considers the forces required to cause desired motion.Considering the equations of motion arises from torques applied by the actuators,or from external forces applied t
