Dynamics is the branch of mechanics that studies the forces and torques that cause motion and the resulting accelerations of bodies. In robotics it provides the equations of motion that relate joint forces to accelerations, essential for force control, simulation, and model-based control. It contrasts with kinematics, which describes motion without reference to the forces that produce it.
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- Forward dynamics computes accelerations from applied forces, while inverse dynamics computes the forces required for a desired motion, both central to model-based and force control. Accurate dynamic models, including inertia, friction, and contact, underpin realistic simulation and high-performance manipulation.