A Direct Application of the Decoupling Method to Euler-Lagrange Formalism

For automatic derivation of control algorithms, the decoupling method is applied to Euler-Lagrange’s formal-ism. Explicit expressions to derive directly from the Lagrangian the nonlinear control laws of mechanisms and of a dynamically driven robot are given. Finally, a simple two-degree-of-freedom system driven by DC electric motors is used to illustrate the flexibility of the proposed approach over the other design methods. 1