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ibernabucci79
03-21-2006, 08:35 PM
Greetings,

I worked on a antropomorphic arm model which works on a plane (no gravity effect on the dynamic equation). The arm model is 2DOF having a shoulder rotoidal joint and a elbow rotoidal joint.

The dynamic equations that i used are the standard robotics equations.

Now i have to move the model in a 3D space; i would that the shoulder joint let the model to move in a 3D space. Is it possible?

I would ask if i can have some help in finding the dynamic equations of the overall system, because i couldn't find them.

Best Regards,

--
Dr. Ivan Bernabucci