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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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Learn the fundamental principles of robot dynamics for open kinematic chains through a comprehensive lecture series covering Lagrangian formulation, mass matrix analysis, single rigid body dynamics, Newton-Euler inverse dynamics, forward dynamics, task space dynamics, constrained systems, and practical considerations including actuation, gearing, and friction effects.

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

Taught by

Northwestern Robotics

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