Modern Robotics, Course 3: Robot Dynamics

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  • Chapter 8: Dynamics of Open Chains (Part 1 of 2)
    • Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot.
  • Chapter 8: Dynamics of Open Chains (Part 2 of 2)
    • Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction.
  • Chapter 9: Trajectory Generation (Part 1 of 2)
    • Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.
  • Chapter 9: Trajectory Generation (Part 2 of 2)
    • Time-optimal motions along a specified path subject to robot dynamics and actuator limits.