11.5.2 - Inverse Dynamics
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Practice Questions
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What is inverse dynamics?
💡 Hint: Think of how the robot figures out what it needs to do to move.
Name one application of inverse dynamics.
💡 Hint: Consider where precise movements are crucial.
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Interactive Quizzes
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What is the primary focus of inverse dynamics?
💡 Hint: Remember that it's about figuring out what inputs create the motion.
True or False: Inverse dynamics is only relevant during the design phase of a robot.
💡 Hint: Think about when real-time control might be necessary.
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Challenge Problems
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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.
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.
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