#### Rigid-Body Dynamics

lesson

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

lesson

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

lesson

As we did for the simple planar robots we can invert the Jacobian and perform resolved-rate motion control.

lesson

An alternative for smooth motion between poses is Cartesian interpolated motion which leads to straight line motion in 3D space.

lesson

A more efficient trajectory has a trapezoidal velocity profile.

masterclass

masterclass

masterclass

masterclass

masterclass

lesson

Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])