Concept

Robot dynamics

You might say: equations of motion, M(q)q̈ + C + g = τ

Robot dynamics describe how joint forces and torques produce acceleration from link mass, inertia, Coriolis effects, gravity and friction.

What it does

They let a controller predict required torque and add feedforward such as gravity compensation.

Ask

Are the masses, inertias and friction parameters identified, or only guessed?

Typical

For an open chain, Modern Robotics writes the equations as M(q)q̈ + h(q,q̇) = τ, with h collecting centripetal, Coriolis, gravity and friction terms.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 8, Dynamics of Open Chains §§8.1 and 8.9forces that lump together centripetal, Coriolis, gravity, and friction terms
2. Russ Tedrake, Underactuated Robotics, Ch. 23, Multi-Body DynamicsThe equations of motions for our machines get complicated quickly.

Use it on your project

teardown-apply: hold "Robot dynamics" (robot-dynamics) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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