#### 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

An image contains a huge amount of pixel data, and a video stream is a massive flow of pixel data. Typically a robot has only a few inputs, the position or velocity of its joints. How do we go from all that camera data to the small amount of data the robot really needs?

lesson

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.

lesson

Actuators have finite capability, that is they have a maximum torque, velocity and power rating.

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The simplest smooth trajectory is a polynomial with boundary conditions on position, velocity and acceleration.

lesson

We summarise the important points from this lecture.

lesson

We summarise the important points from this lecture.

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.