#### Second Order Dynamic Systems

lesson

If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

lesson

If your knowledge of dynamics is a bit rusty then let’s quickly revise the basics of second-order systems and the Laplace operator. Not rusty? Then go straight to the next section.

lesson

In a serial-link manipulator arm each joint has to support all the links between itself and the end of the robot. We introduce the recursive Newton-Euler algorithm which allows us to compute the joint torques given the robot joint positions, velocities and accelerations and the link inertial parameters.

lesson

A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.

lesson

We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.