Dynamics

旋量理论

定义

Robot dynamics is concerned with the relationship between the forces acting on a robot mechanism and the acceleration they produce. Typically, the robot mechanism is modeled as a rigid-body system, in which case robot dynamics is the application of rigid-body dynamics to robots. The two main problems in robot dynamics are:

  1. Forward dynamics: given the forces, work out the accelerations. (mainly used for simulation)
  2. Inverse dynamics: given the accelerations, work out the forces. (on-line control of robot motions and forces, trajectory design and optimization, design of robot mechanisms, as a component in some forward-dynamics algorithms)

Product of Exponential

class_1

Plücker coordinates

实例

https://www.zhihu.com/people/gear-guan/posts