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Dynamics Calculation Methods

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  • First Online:
Encyclopedia of Robotics

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Definition

In the context of robotics, a dynamics calculation method is a procedure for calculating the forward or inverse dynamics of a robot mechanism, beginning with a description of the mechanism in terms of its component parts.

Overview

Given a dynamic model of a robot mechanism, as described in “Dynamic Models of Robots”, there are a great many ways to calculate the relationship between the forces acting on and within the mechanism and the accelerations they produce. Three specific examples appearing in this encyclopedia are the “Recursive Newton-Euler Algorithm” for calculating “Inverse Dynamics” and the “Composite-Rigid-Body Algorithm” and “Articulated-Body Algorithm” for calculating “Forward Dynamics”. All three can be classified as numerical methods that operate on “Kinematic Trees”and use an approach based on generalized coordinates, which happen to be the joint variables in these examples. There are many ways to accomplish these and other similar calculations, and the...

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References

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Author information

Authors and Affiliations

  1. Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA

    Patrick M. Wensing

  2. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy

    Roy Featherstone

Authors
  1. Patrick M. Wensing
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  2. Roy Featherstone
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Corresponding author

Correspondence to Patrick M. Wensing .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy

    Roy Featherstone

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Wensing, P.M., Featherstone, R. (2022). Dynamics Calculation Methods. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_224-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_224-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

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