The Coriolis matrix S(q,q') in the Lagrangian formulation is a coupled n*1 matrix. But in many mathematical models, an n*n Coriolis matrix S(q,q') multiplied by q' is used. I need to understand how to transform the former into later. Also, are the q and q' values in the matrix, the desired values, or the instantaneous values?
I have summarized the answer in a pdf file, so you have some mathematical passages that I hope will be helpful.
I have summarized the answer in a pdf file, so you have some mathematical passages that I hope will be helpful.
Thank you so much for the explanation Pierpaolo Dini . So essentially there can be multiple n*n C(q,q') matrices depending on how you separate/group the terms, and all of them are correct, right?
Also, could you clarify if the q, q', q'' values in the inertia, coriolis, gravity matrix equation, are the final desired values or the instantaneous values?
Thank you!
I prefer to leave some mathematical passages...I think is more clear then a verbose answer.
In attachment the is another pdf.
I hope that clarifies your doubts.
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