MotionGenesis: F=ma Software, textbooks, training, consulting.   Dynamics & control for robots

1. Robot: Stanford arm
MGRobotStanfordArmSchematic3D.png
End-effector forward kinematics (3D)
Various methods for forming equations of motion
Inverse dynamics (3D)
Feed-forward control (2D)

2. Robot: Rolling sphere positioning device
MGRoboticRollingSpherePositioningDevice.jpg
Various methods for forming equations of motion
PD control
Feed-forward control

3. Robot: Kuka IIwa
MGRobotKukaIIwaSchematic.png MGRobotKukaIIwaAnimated.gif