11. Dynamics of Robot Motion

Try these first

1. 1.

   What does dynamics study in relation to robotic motion?

   Hint

   Think about what principles are involved in why robots move.

2. 2.

   What is the difference between forward and inverse dynamics?

   Hint

   Consider the direction of the problem.

3. 3.

   What does dynamics focus on in robotics?

   • Positions and velocities
   • Forces and torques
   • Paths and trajectories

   Hint

   Think about what causes motion.

4. 4.

   True or False: Inverse dynamics calculates the motion given forces.

   • True
   • False

   Hint

   Consider the direction of the calculation.

5. 5.

   A robotic arm with a length of 2 meters and mass of 5 kg is to lift a load of 10 kg. Calculate the required torque at the joint if the load has to accelerate at 1 m/s².

   Hint

   Consider both the load and the arm’s mass.

6. 6.

   Devise a control strategy using computed torque control for a robot navigating uneven terrain while managing friction.

   Hint

   Address external forces and model dynamics accordingly.