You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
A tiny package for symbolically deriving a system's equations of motion in the form
$$\mathbf{M}(\mathbf{q})\mathbf{\ddot{q}} + \mathbf{c}(\mathbf{q},\mathbf{\dot{q}}) - \mathbf{\tau}_p(\mathbf{q}) = \mathbf{\tau} + \sum_j \mathbf{W}_j(\mathbf{r}_j,\mathbf{q}) \mathbf{F}_j$$
for a vector of generalized coordinates $\mathbf{q}$ from the system's kinetic energy $T(\mathbf{q},\mathbf{\dot{q}})$ and potential energy $V(\mathbf{q})$, that together form the Lagrangian $L = T-V$.
Additionally, given $\mathbf{r}_j(\mathbf{q})$, i.e. vectors to points where external forces $\mathbf{F}_j$ are applied to the system, wrench matrices can also be derived.