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5.7 Level 6: Lagrangian motion

What is the optimal way to move the arm, to fulfil a task? Well, it depends on your criteria for optimality, but one good objective is to simultaneously minimize the amount of electricity you use and the amount of wear and tear on the manipulator joints. Such a state of affairs is arrived at by solving the Lagrange equations of motion, which means precisely to compute the dynamics which uses the least amount of energy. In practice, this is the way humans usually move (because we are all lazy), and so a robot in this mode of motion looks very natural to us.

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