Newsgroups: comp.robotics
Path: brunix!uunet!newsflash.concordia.ca!sifon!CC.UMontreal.CA!poly-vlsi!yangyang
From: yangyang@GRBB.polymtl.CA (Yang  Yang)
Subject: Help needed: is there an iterative Lagrange formulation.
Message-ID: <1993Jul21.183359.10629@vlsi.polymtl.ca>
Keywords: Lagrange's equation, iterative algorithms
Sender: news@vlsi.polymtl.ca (USENET News System)
Organization: Ecole Polytechnique, Genie Biomedical
Date: Wed, 21 Jul 1993 18:33:59 GMT
Lines: 26


Hi, 

I am new to this group. Having seen many messages on robot hardware, I
wonder if anyone can help me with a simple question on the "software"
side.  

My question is: is there an ITERATIVE Lagrange formulation available?

I shall apologize if this is a FAQ. My objective is to construct a
dynamic model and to run a simulation on a multi-joint (hence,
multi-DOF) robot arm.  There are iterative algorithms based on the
Newton-Euler formulation available.  However, I didn't see the similar
algorithm for Lagrange formulation. Any hints and pointers are
gratefully appreciated.

##############################################
# Yang YANG,                                 #
# Ecole Polytechnique		             #
# Universite de Montreal                     #
# Montreal H3C 3A7, Canada                   #
# e-mail: yangyang@grbb.polymtl.ca           #
##############################################



