# Questions tagged [dynamics]

Dynamics is a branch of applied mathematics (specifically classical mechanics) concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes.

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### What's the difference between a holonomic and a nonholonomic system?

I was wondering if a 1D point mass (a mass which can only move on a line, accelerated by an external time-varying force, see Wikipedia - Double integrator) is a holonomic or a nonholonomic system? Why?...
3k views

### Dynamic torque simulation for a 6 DOF robotic arm

I am working on a 6 DOF robotic arm(industrial manipulator). I have the basic structural specs (dimensions, weights etc) for the links and joints with me. Basically, I want to simulate both static ...
570 views

### Constrained Second Angle Double Pendulum

If I am trying to model the dynamics of a double-pendulum (on a horizontal plane without the effects of gravity), in which the second angle is constrained to range between values of [-10 deg, 10 deg], ...
20k views

### Position Control vs Velocity Control vs Torque Control

Please can somebody explain to me the difference between Position Control, Velocity Control, and Torque Control? Specifically, I am thinking in terms of a robot arm. I understand that position control ...
6k views

### how to implement tracking problem with PID controller

I'm trying to implement the tracking problem for this example using PID controller. The dynamic equation is $$I \ddot{\theta} + d \dot{\theta} + mgL \sin(\theta) = u$$ where $\theta$ : joint ...
211 views

### Biped State Space Implementation

Currently I working on a humanoid robot using inverted pendulum model and use LQR for walking stabilizer. Input u is Torque, State x is angle and angular velocity and y output is angle. I got the ...
469 views

### Adding an Actuator or Force to a (Featherstone) Articulated Rigid Body Model

I'm working on a project where I need to model a system that is essentially comprised of a series of ball-and-socket joints attached to a base, which is attached in turn to a prismatic joint (rail). ...
593 views

### Proportional controller error doesn't approach zero

I'm reading this pdf. The dynamic equation of one arm is provided which is $$l \ddot{\theta} + d \dot{\theta} + mgL sin(\theta) = \tau$$ where $\theta$ : joint variable. $\tau$ : joint torque ...
586 views

### Effectiveness of a Mobile Robot In Relation To Mass

Do mobile and/or autonomous robots become more or less effective the bigger they get? For example, a bigger robot has bigger batteries, and thus bigger motors, whereas a smaller robot has the exact ...
29 views

### Multidimensional obstacle avoidance in ODE. Part II

Multidimensional obstacle avoidance https://math.stackexchange.com/questions/4146255/multidimensional-obstacle-avoidance-in-ode For some time, I studied this question more closely and came to the ...
49 views

### Non-planar robot Dynamics error using Roy Featherstone's Spatial toolbox

I am using this code to test robot dynamics of above robot using Spatial Toolbox function: FDab(rob, [0;0;0], [0;0;0], [0;0;0]) %a_grav = [0,0,-9.81] But it ...
392 views

### Robot with Double Integrator Model [duplicate]

Does the robot described by Double Integrator Model is holonomic ? Let's say we have a robot with dynamics described by equations \begin{cases} \dot x = v, & \\ \dot v = \frac {1}{m}u \end{...