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Iím Son of Toby.

Son of Toby

Robotic Arm Project

A student research project supported by the Drury University Physics Department , in conjunction with the NASA Reduced Gravity Student Flight Opportunities Program.

Son of Toby contemplates his equations of motion...

Son of Toby is shown here considering the Lagrangian equations of motion that describe his 2-DOF arm.

Note that we now use the Hamiltonian equations of motion to describe the arm as explained below.

But the Lagrangian equations of motion are entirely equivalent, and were used in the '06-'07 experiment.

The '10-'11 two degree of robotic arm design