PowerPoint Presentation Lie Group Formulation for Robot Mechanics Terry Taewoong Um [email protected] Adaptive Systems Laboratory Electrical and Computer Engineering University…

3 Classical Equations of Motion  Several formulations are in use •  Newtonian •  Lagrangian •  Hamiltonian  Advantages of non-Newtonian formulations…

Slide 1 Mechanics Slide 2 Cartesian Coordinates Normal space has three coordinates.  x 1, x 2, x 3  Replace x, y, z  Usual right-handed system A vector can be expressed…

Slide 1 Lumped Modeling with Circuit Elements, Ch. 5, Text Ideal elements represent real physical systems. – Resistor, spring, capacitor, mass, dashpot, inductor… –…

Electronic copy available at: http://ssrn.com/abstract=2450017 1 Momentum, Markowitz, and Smart Beta A Tactical, Analytical and Practical Look at Modern Portfolio Theory…

Slide 1 Logistics Lecture notes allowed No numbers Same format as mid-terms. Four problems. I will try to mix several concepts in one problem! Formulas from front page of…

Contents 1 Generalized coordinates 1 1.1 Constraints and degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 Holonomic constraints…