- #1
Granger
- 168
- 7
Homework Statement
2. Homework Equations [/B]
So I basically have to establish the non linear differential equation that governs the movement of this robot (relates d and theta):
The Attempt at a Solution
So I know that we should have the sum of torques equal to:
$$I\frac{d^2\theta}{dt^2}$$
where I is the total inertia momentum.
Now I'm having trouble understanding what terms will figure in total sum of the torques.
One of the terms needs to be related to the distance d from the y axis. That term must be
$$I\frac{d}{dt} d(t)=IV\cos{\theta}$$
where V is the constant linear velocity.
However there must be additional terms right? Can someone help clarify the mechanics of the situation? Thanks!