Equations relating joint torques to motion.
Dynamics relate joint torques to motion: τ=M(q)q̈+C(q,q̇)q̇+g(q)+friction. Derived by Lagrange or Newton-Euler. Needed for simulation, model-based control, actuator sizing and force control. Inertia varies with configuration.
Torque required at a shoulder joint depends on arm extension and payload.
Robot dynamics relate joint torques to the motion of the arm, so they are needed to size motors and to design high performance control.
Equations relating joint torques to motion.
Robot dynamics relate joint torques to the motion of the arm, so they are needed to size motors and to design high performance control.
Inertia, Coriolis and centrifugal effects, gravity, and friction, which together relate torque to the joint accelerations.
Gravity torque can be large for an extended arm, so the motors must hold the load even when the robot is not moving.
Typical applications include sizing the motor for a heavy arm that must accelerate quickly, estimating the torque needed to hold a payload at full extension and designing a model-based controller for a fast pick and place robot.
Study "Jacobian and singularities" first (topic 58 of 102 in Manufacturing, Robotics & Systems). It covers the groundwork this topic builds on.
Mass matrix M. Coriolis and centrifugal terms. Gravity compensation.
Torque required at a shoulder joint depends on arm extension and payload.
The next topic is "Trajectory planning", which builds directly on this one.
It is classed as Intermediate in Manufacturing, Robotics & Systems (topic 59 of 102). It is an intermediate topic. Work through the beginner topics in Manufacturing, Robotics & Systems first.
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