11.2. Newton-Euler Formulation

Try these first

1. 1.

   What does Newton's Law state?

   Hint

   Think about the relationship between force and acceleration.

2. 2.

   What is torque in the context of robotics?

   Hint

   Consider how forces cause objects to rotate.

3. 3.

   What is Newton's Law?

   • F = ma
   • τ = Iα
   • F = m/g

   Hint

   It relates the force exerted on an object to its mass and how fast it accelerates.

4. 4.

   True or False: The Recursive Newton-Euler algorithm has only one phase.

   • True
   • False

   Hint

   Remember, there are two distinct phases in the algorithm.

5. 5.

   A robotic arm of length 2m has a binary weight of 10kg at the end. Using the Recursive Newton-Euler algorithm, calculate the torque necessary to hold it stationary at a right angle.

   Hint

   Consider the forces acting at the joint and how they relate to torque.

6. 6.

   How would the calculations for the forces and torques change if the mass of the robotic arm suddenly increases to 15kg, keeping the same angle? Revise your previous calculations.

   Hint

   Focus on how changing the mass affects your torque calculation.