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Dynamics

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Encyclopedia of Robotics

Synonyms

Mechanics

Definition

The dynamics of a robot define a relationship between forces and torques applied on the system (from both actuators and the environment) and the motions that result.

Overview

The field of robot dynamics is concerned with understanding how the motions of a robot are related to forces and torques applied by its actuators and the external environment. This consideration is in contrast with the study of Kinematics, which considers motions without regard for the forces that cause them.

The dynamics of a robot are concisely described by its equations of motion, a system of equations that relates applied forces (and torques) to accelerations of the system. The derivation of these equations is an age-old problem, with solutions dating back to the late eighteenth century via Lagrange. By comparison, modern topics in robot dynamics focus on algorithmic aspects of computing solutions to these equations. Efficient dynamics computations see wide-ranging applications in...

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References

  • Featherstone R, Orin D (2016) Chapter 3: Dynamics. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, New York

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  • Khatib O (1987) A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE J Robot Autom 3(1):43–53

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  • Orin DE, Goswami A, Lee SH (2013) Centroidal dynamics of a humanoid robot. Autono Robot 35(2):161–176

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  • Siciliano B, Sciavicco L, Villani L, Oriolo G (2009) Chapter 7: Dynamics. In: Robotics: Modelling, Planning and Control, Springer-Verlag, London

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  • Wensing PM, Orin DE (2016) Improved computation of the humanoid centroidal dynamics and application for whole-body control. Int J Human Robot 13(1):1550039:1–23

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA

    David E. Orin

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

    Patrick M. Wensing

Authors
  1. David E. Orin
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  2. Patrick M. Wensing
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Corresponding author

Correspondence to David E. Orin .

Editor information

Editors and Affiliations

  1. Dept. of Mechanical Engineering Blk 1E Gillman Hts #17-43, National University of Singapore, Singapore, Singapore

    Marcelo H Ang

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

    Oussama Khatib

  3. Dipto di Informatica e Sistemistca, Univ di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

Section Editor information

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

    Roy Featherstone

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Orin, D.E., Wensing, P.M. (2020). Dynamics. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_57-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_57-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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