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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.

2
votes
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I am using a physics simulator to simulate a robot arm. For a revolute joint in the arm, there are two parameters which need to be specified: damping, and friction. If a torque is applied to the joint …
asked Jun 7 '16 by Karnivaurus
4
votes
1answer
The other day, somebody was telling me about a robot in their lab, and they mentioned that it has "series elastic" actuators. But after doing a bit of Googling, I'm still not sure as to what this mean …
asked May 28 '16 by Karnivaurus
1
vote
3answers
I have been reading this paper (https://arxiv.org/pdf/1509.06113.pdf), which is about control of a robotic arm. They learn a mapping from robot state to robot control, where the state is the positions …
asked Apr 26 '17 by Karnivaurus
7
votes
2answers
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 …
asked Jun 9 '16 by Karnivaurus
1
vote
1answer
I am trying to understand the difference between joint torque sensors, and force sensors, in a robot arm. From what I understand, joint torque sensors estimate the torque at each joint, whereas a forc …
asked Jul 17 by Karnivaurus
3
votes
2answers
My understanding of walking robots (e.g. https://www.youtube.com/watch?v=xJlkBBdyBYI) is that they use a gyroscope to determine the current orientation of the robot, or each joint of the robot. This i …
asked Jan 28 '16 by Karnivaurus