So far we have worked out the torques on a robot’s joints based on joint position, velocity and acceleration. For simulation we want the opposite, to know its motion given the torques applied to the joints. This is called the forward dynamics problem.
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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.