Location:Training / Robot / Basic Principles of Robotics Fang Lijin, Northeastern University / Lagrangian dynamic modeling (four-link manipulator)

Robot kinematics and dynamic modeling are the key teaching content of this course. Through this course, students can understand and master the basic principles and modeling methods of robots, establish a systematic and complete basic theoretical system, and prepare for subsequent in-depth study of robot intelligent control and other courses. Build the necessary knowledge base. Focusing on the key content of the course, we designed knowledge points including robot kinematics, dynamics, drive system, posture and trajectory control, force control, intelligent control and MATLAB-based simulation, and initially established and formed course knowledge with its own characteristics. Architecture.