## A Derivation of the Manipulator Equation from the Euler-Lagrange Equation

The equations of motion for a robot manipulator and its relationship to the Euler-Lagrange equation is well known and extremely useful in robotics, and yet I couldn’t find a single source that provides the derivation–I suppose it’s one of those “the solution is trivial and is left as an exercise to the reader” situations. Well, I’m providing one here for dummies like me who need it spelled out step-by-step. Let’s start with the Euler-Lagrange equation....