I've been using SymPy in my research and coursework for a while now. For those that don't know, SymPy is a computer algebra system, capable of performing symbolic calculations that would be too complicated to do by hand. Which makes it perfect for solving the equations needed to generate the equations of motion (EOM) of multibody systems! In this post, I'll demonstrate a simple workflow for generating the EOM for a differential drive robot.
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