Example: 2 dof planar arm Space Biomedical Engineerin Life Support Substituting the linear and angular Jacobians into eqn(2-7) gives H +1+m2(42+12+212c082)+12m212cos2+m2+ 6,+m2l,2+ Centrifugal Coriolis term coefficients hn1=0,h2=-m2l2in2,hn2+h21=-2m22in2 h21=m2lina2,h2=0,h2+h21=0 Gravity terms Ju+mJ (2 20L1 +m Substituting the above into(2-11) gives H16+H22+h262+(h12+h21)062+G1= H262+H21+h21 +gExample: 2 dof planar arm • Substituting the linear and angular Jacobians into eqn (2-7) gives H qC       + + + + + + + + + + = 2 2 2 2 2 2 2 1 2 2 2 2 2 2 1 2 2 2 2 1 2 2 2 2 2 2 2 1 2 1 2 1 1 cos ( 2 cos ) cos m l l m l I m l I m l I m l l l l I m l l m l I c c c c c c c c θ θ θ sin , 0, 0 0 , sin , 2 sin 211 2 1 2 2 222 212 221 111 122 2 1 2 2 112 121 2 1 2 2 = = + = = = − + = − h m l l h h h h h m l l h h m l l c c c θ θ θ • Centrifugal / Coriolis term coefficients • Gravity ter ms • Substituting the above into (2-11) gives [ ] [ ] ( 2) 2 2 ( 1) 2 1 2 ( 2) 2 1 ( 1) 1 1 1 L L T L L T G m m G m m g J J g J J = + = + 2 2 2 22 2 12 1 211 1 112 121 1 2 1 1 2 11 1 12 2 122 2 ( ) θ θ θ τ θ θ θ θ θ τ + + + = + + + + + = H H h G H H h h h G CC CC C CC CC C C C