Extract M and C from Kane's equation #22367
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Simone2021space
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SymPy has routines for finding coefficients, for example |
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Hi team,
I need to derive the general dynamic equation of a manipulator :
torque = M(q)q" + C(q,q') q' + F
starting from Kane's equation:
fr+fr*=0
so I need to extract the M and C terms, is there a function or a tool for doing that?
If not how can I do it manually?
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