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The dynamics equation is T=M(q)*q''+C(q,q')*q'+G(q).

Can somebody provide me with the M(q), C(q,q') and G(q) matrices of a 3R manipulator with link mass,length and rotational inertia m_i, l_i and Inertia_i respectively?

3Rserial

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  • $\begingroup$ You will find all the necessary information in book of J. J. Craig "Introduction to Robotics: Mechanics and Control (Third Edition)". This book explains that problems in clear and concise way. $\endgroup$ – Kepler Mar 6 '17 at 7:43
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The simplest approach for deriving the dynamics equation of the manipulator is via Lagrangian approach. I've hand-written in a hurry the equations that you need to start computing the Lagrangian equation in the following picture and I leave the rest for you:

enter image description here

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