一、Newton-Euler formulation牛顿-欧拉法
初值:
向前迭代:
向后迭代:
二、Lagrange formulation拉格朗日法
ddt∂L∂qi˙−∂L∂qi=τi
d
d
t
∂
L
∂
q
i
˙
−
∂
L
∂
q
i
=
τ
i
L=T−U
L
=
T
−
U
(T为动能,U为势能)
T=12q˙TH(q)q˙
T
=
1
2
q
˙
T
H
(
q
)
q
˙
H(q)q¨+C(q,q˙)q˙+g(q)=τ
H
(
q
)
q
¨
+
C
(
q
,
q
˙
)
q
˙
+
g
(
q
)
=
τ
H(q)=∑i=1nb(JTSimJSi+JTRiΘSiJRi)
H
(
q
)
=
∑
i
=
1
n
b
(
J
S
i
T
m
J
S
i
+
J
R
i
T
Θ
S
i
J
R
i
)
C(q,q˙)q˙=H˙(q)q˙−12(∂∂q(q˙TH(q)q˙))T
C
(
q
,
q
˙
)
q
˙
=
H
˙
(
q
)
q
˙
−
1
2
(
∂
∂
q
(
q
˙
T
H
(
q
)
q
˙
)
)
T