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Forward dynamics starts with the joint torques and computes the robot arm’s acceleration. You will solve M(θ)θ¨=τ−h(θ,θ˙)−J⊤(θ)FtipM(\theta)\ddot\theta = \tau - h(\theta, \dot\theta) - J^\top(\theta)\mathcal{F}_{\text{tip}} for θ¨\ddot\theta. Calls to inverse dynamics provide the mass matrix and the remaining terms. This treatment follows section 8.5 of Lynch and Park (book page 296) (Kevin M. Lynch, 2017). You will then integrate the accelerations over time to simulate the arm, as a physics engine does at each step. This procedure connects to integration on Lie groups in calculus on Lie groups.

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References

  • Kevin M. Lynch, F. (2017). Modern Robotics.
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