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Reference Documentation

This section contains theoretical reference documentation for the skelarm robot kinematics and dynamics library. The content is derived from the project's foundational lessons.

Contents

  1. Differential Kinematics
    • Recursive position, velocity, and acceleration.
    • Jacobian matrix formulation.
  2. Inverse Dynamics
    • Newton-Euler equations.
    • Force and torque balance recursive calculation.
  3. Forward Dynamics
    • Lagrangian formulation.
    • System Inertia Matrix (\(H\)) and Bias Force Vector (\(b\)).
    • Equation of Motion: \(H\ddot{q} + b = \tau\).
  4. Numerical Methods
    • Linear Equation Solver (Gaussian Elimination).
    • ODE Solver (Euler, Runge-Kutta).