Lagrangian Formulation

  • Ernesto Olguín DíazEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 191)


The dynamic equation of motion of a multi-particle conservative system is obtained using either D’Alembert-Lagrange equation ( 2.62) or the General Euler-Lagrange ( 2.76) which in both cases would get the form given in ( 2.78): \(H({\varvec{q}})\ddot{\varvec{q}}+ C({\varvec{q}},{\dot{{\varvec{q}}}}){\dot{{\varvec{q}}}} + {\varvec{g}}({\varvec{q}}) = {\varvec{\tau }}\).

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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Robotics and Advance Manufacturing GroupCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN)CoahuilaMexico

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