11.5.2. Inverse Dynamics

Try these first

1. 1.

   What is inverse dynamics?

   Hint

   Think of how the robot figures out what it needs to do to move.

2. 2.

   Name one application of inverse dynamics.

   Hint

   Consider where precise movements are crucial.

3. 3.

   What is the primary focus of inverse dynamics?

   • To calculate accelerations
   • To determine required torques or forces
   • To plan trajectories

   Hint

   Remember that it's about figuring out what inputs create the motion.

4. 4.

   True or False: Inverse dynamics is only relevant during the design phase of a robot.

   • True
   • False

   Hint

   Think about when real-time control might be necessary.

5. 5.

   A robotic arm is tasked with moving a heavy object across a table while maintaining delicate control. Identify the factors that inverse dynamics would need to compute and specify how they would adapt if the weight varies.

   Hint

   Think of how weight affects balance and the calculations involved.

6. 6.

   Given the mass/inertia matrix M(q) = [2 0; 0 3], the Coriolis matrix C(q, q˙) = [0 0; 0 0], and the gravity vector G(q) = [0; 9.81] for a two-joint robot, derive the torque required if the desired acceleration q¨ is [1; 2].

   Hint

   Keep a careful eye on matrix multiplication and how torques respond to changes in accelerations.