Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H. Ang, Oussama Khatib, Bruno Siciliano

Dynamic Models of Robots

  • Patrick M. WensingEmail author
  • David E. Orin
Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_58-1


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...

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  2. Featherstone R, Orin D (2016) Chapter 3: Dynamics. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, New YorkGoogle Scholar
  3. Roberson RE, Schwertassek R (1988) Dynamics of multibody systems. Springer, Berlin/Heidelberg/New YorkCrossRefGoogle Scholar
  4. Wensing PM, Kim S, Slotine JJE (2018) Linear matrix inequalities for physically consistent inertial parameter identification: a statistical perspective on the mass distribution. IEEE Robot Autom Lett 3(1):60–67CrossRefGoogle Scholar

Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2020

Authors and Affiliations

  1. 1.Department of Aerospace and Mechanical EngineeringUniversity of Notre DameNotre DameUSA
  2. 2.Department of Electrical and Computer EngineeringThe Ohio State UniversityColumbusUSA

Section editors and affiliations

  • Roy Featherstone
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenovaItaly