A dynamic model of a robot provides a compact representation of the physical features that influence its “dynamics”. When modeling a robot as a rigid-body system, its dynamic model is comprised of components that separately describe link connectivity, connecting joints, and link masses and inertias.

This entry details rigid-body dynamic models for robot mechanisms such as industrial manipulators or legged systems. These models provide a compact description of both the kinematics and mass distribution of a robot and together uniquely determine its “dynamics”. Accurately modeling the dynamics of a robot may require steps beyond rigid-body modeling. Other effects from compliant or dissipative elements may be included by layering additional complexity on top of the conventions here. Other aspects of the robot, such as its actuators or transmissions, may have additional dynamic models themselves, requiring separate modeling conventions.

Rigid-body models are treated as...