#### Summary of Rigid-Body Dynamics

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We recap the important points from this masterclass.

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We recap the important points from this masterclass.

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We examine the gravity term and explore the effect of changing robot payload.

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We will learn about the forces that are exerted on a robot’s joint by gravity acting on links, friction, and the coupling forces where the motion of one joint imparts a force on other joints.

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All mechanical systems exhibit friction and we learn about two broad classes of friction: linear and non-linear.

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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.

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We will learn about the relationship, in 3D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions. To do this in 3D we need to […]

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We will learn about the relationship, in 2D, between the velocity of the joints and the velocity of the end-effector — the velocity kinematics. This relationship is described by a Jacobian matrix which also provides information about how easily the end-effector can move in different Cartesian directions.

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We summarise the important points from this masterclass.

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This masterclassÂ has been about kinematics and we define that term.

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The pose of the working part of a robot’s tool depends on additional transforms. Where is the end of the tool with respect to the end of the arm, and where is the base of the robot with respect to the world?