Lagrangian Formulation Space Biomedical Engineerin Life Support T=∑4gy+qyg1J=4面26 where H=∑mg+19)=smh(27 (H is symmetric positive definite) Note:I can be obtained from i. the inertia tensor defined relative to the coord frame fixed to the link, using RLR 2-8)Lagrangian Formulation Note: tensor defined relative to the coord frame fixed to the link, using ( ( ( ) 1 ( ) ( ) ( ) ( ) 2 1 1 ( ) ( ) ( ) ( ) 2 1 is symmetric positive definite system inertia tensor (n n) where H H J J J I J T q J J q q J I J q q Hq = + = × = + = ∑ ∑ = = n i i i A T i A i L T i i L T n i i i A T i A i T L T i L T i m m � � � � � � i I i I T i i i i 0 0 I = R I R (2-6) (2-7) (2-8) can be obtained from , the inertia ) )