Problem 1:

Derive the dynamical equations of motion

Exercise 3.3. Consider each link to be a rectangular solid of homogeneous density with dimensions : li, wi and h, and total mass mi.

Problem 2: Assume L1=0.5, L2=0.5, L3=0.25, m1=0.5, m2=0.5, m3=0.25. Solve the differential equations

using a computer program like MATLAB or Maple with initial conditions

theta1= 10Degrees, theta2= 40Degrees, theta3 = 40Degrees, all initial velocities are zero. Plot each joint angle and joint velocities w.r.t time upto 10 Sec.