Planar Serial Robots Dynamics Quiz

Force = Cause of motion Motion = Effect of force exertion Mass = Quantity of matter in an object Momentum = Product of mass and velocity

Position = $x = \int v dt = a_0 t^2 + v_0 t + x_0$ Velocity = $v = \frac{dx}{dt}$ Acceleration = $a = \frac{dv}{dt} = \frac{d^2x}{dt^2}$ Motion Under Uniform Acceleration = $a=a_0$, $v = a_0 t + v_0$, $x = a_0 t^2 + v_0 t + x_0$

Newton's First Law = A body at rest tends to stay at rest, and a body in motion tends to stay in motion, unless acted upon by some force. Newton's Second Law = The acceleration of an object is directly proportional to the net force acting on it and inversely proportional to its mass. Newton's Third Law = For every action, there is an equal and opposite reaction. Principle of Inertia = A property of matter by which it continues in its existing state of rest or uniform motion unless acted upon by an external force.

MSC ADAMS = Simulation of planar manipulators MATLAB Simulink = Modeling and simulating dynamic systems RobotStudio = Offline programming and simulation software for industrial robots Webots = Robotics simulation software used in academic and industry environments

Inverse Dynamics = Computing the forces/torques required at the joints to achieve a desired trajectory for the end effector. Kinematic Control = Controlling the position and orientation of the end effector without considering dynamics or forces. Force Control = Regulating the forces/torques applied by the robot's end effector during interaction with the environment. Adaptive Control = Adjusting control parameters based on changes in the robot's environment or dynamics.