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Kinematics describes how a robot moves. Dynamics explains why it moves that way. The equations of motion relate the masses, forces and torques acting on a robot to the accelerations they produce. This chapter builds them for one rigid body and then for a whole robot arm.

Rigid-body dynamics

Form equations of motion with twists and wrenches. Content is planned for December 2026.

Inverse dynamics

Compute the joint torques for a desired motion with the recursive Newton-Euler algorithm. Content is planned for December 2026.

Forward dynamics

Determine the motion produced by given joint torques and simulate the result. Content is planned for December 2026.

Constrained dynamics

Form equations of motion under Pfaffian constraints. Content is planned for December 2026.

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References

  • Cross product and torque (Khan Academy). A short video on torque as the cross product of the lever arm and the force. Watch it before the wrenches on the rigid-body dynamics page.
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