9.7. Manipulator Dynamics (Introduction)

Try these first

1. 1.

   What is the role of torque in manipulator dynamics?

   Hint

   Think about how we move objects with forces.

2. 2.

   Define the mass/inertia matrix.

   Hint

   Consider how mass might affect movement.

3. 3.

   What does the joint torque (τ) represent?

   • A measure of mass
   • Force applied at a joint
   • Speed of motion

   Hint

   Think about how you apply force to rotate something.

4. 4.

   True or False: The mass/inertia matrix affects how a robot will respond to forces.

   • True
   • False

   Hint

   Consider how the weight of an object affects its motion.

5. 5.

   A robotic arm is designed to lift packages weighing 10 kg. Calculate the torque required if the weight is located 0.5m from the pivot point in a rotational motion.

   Hint

   Use the gravitational force to find the torque applied.

6. 6.

   Explain how a robotic arm could compensate for increased factorial resistance due to sudden load changes, including aspects of mass/inertia matrices.

   Hint

   Think about feedback loops in robotics controlling arm motion.