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Northwestern University

Modern Robotics - Dynamics of Open Chains

Northwestern University via YouTube

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Overview

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This chapter develops dynamic models for open-chain robots using Lagrangian and Newton–Euler formulations. It also covers task-space and constrained dynamics, actuation, gearing, and friction.

Syllabus

Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 1 of 2)
Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)
Modern Robotics, Chapter 8.1.3: Understanding the Mass Matrix
Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 1 of 2)
Modern Robotics, Chapter 8.2: Dynamics of a Single Rigid Body (Part 2 of 2)
Modern Robotics, Chapter 8.3: Newton-Euler Inverse Dynamics
Modern Robotics, Chapter 8.5: Forward Dynamics of Open Chains
Modern Robotics, Chapter 8.6: Dynamics in the Task Space
Modern Robotics, Chapter 8.7: Constrained Dynamics
Modern Robotics, Chapter 8.9: Actuation, Gearing, and Friction

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Northwestern Robotics

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