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Dynamics

The robotics manipulator dynamic model is given by (see appendix A or [4])

$\displaystyle \mbox{\boldmath$ \tau $}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ D(q) $} \ddot{\mbox{\boldmath$ q $}} + \mbox{\boldmath$ C(q, $}\dot{\mbox{\boldmath$ q $}})
+ \mbox{\boldmath$ G(q) $}$ (2.66)



Richard Gourdeau 2004-07-06