I was wondering if I could reference some of your math in that post as well.

]]>I ran your files as well as tried many cases but still can not reproduce the total error as small as yours.

Can you give me your set of parameters to obtain that very small total errors.

Do you have any “trial and error” strategy in picking up parameters?

Thanks!

]]>So, I’m speaking pretty loosely when saying that the ‘dynamics are complex’ or ‘more non-linear’, these aren’t intended as formal statements.

I’d note too, that the equations of motion for a 3 link system vs a 2 link system are significantly more difficult to calculate, so that’s kind of intuitively what I mean by more complex.

By ‘more nonlinear’ I’m referring to the size of the region of accuracy in state-space where a given linear approximation of the dynamics is useful. Does this help?

Hmm, it’s on my list to do a rework of this for clarity, I’ll add this to the list of things to change! Thanks for your feedback! ]]>