11.4. Dynamic Equation of Motion (EoM)

Try these first

1. 1.

   What does M(q) represent in the dynamic equation?

   Hint

   Think about what affects a robot's mass.

2. 2.

   What does G(q) account for?

   Hint

   Consider the forces acting on a structure because of gravitational pull.

3. 3.

   What does M(q) stand for in the dynamic equation?

   • Mass Matrix
   • Centrifugal Matrix
   • Gravity Matrix

   Hint

   It relates to how mass affects movement.

4. 4.

   True or False: The G(q) term is only relevant in cases of vertical movement.

   • True
   • False

   Hint

   Consider the continuous influence of gravity.

5. 5.

   Given a robotic arm with varying masses across its joints and specified configurations, derive the complete dynamic equations integrating M(q), C(q, q˙), and G(q) based on the defined joint positions.

   Hint

   Break down the contributions of each component step by step.

6. 6.

   Evaluate how adjusting the mass properties in M(q) would impact a robotic arm's ability to execute fast motions without over-compensating for inertia.

   Hint

   Consider the relationship between mass and acceleration during a motion.