Abstract
We find the dynamics equations of motion of robots by two methods: Newton-Euler and Lagrange. The Newton-Euler method is more fundamental and finds the dynamic equations to determine the required actuators’ force and torque to move the robot, as well as the joint forces. Lagrange method provides only the required differential equations that determines the actuators’ force and torque.
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Jazar, R.N. (2010). Robot Dynamics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-1750-8_12
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DOI: https://doi.org/10.1007/978-1-4419-1750-8_12
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