Robot dynamics is the study of the relationship between the forces and torques applied to a robot’s joints and links and the resulting motion of the robot. It encompasses forward dynamics (computing accelerations from applied torques), inverse dynamics (computing required torques to achieve a desired motion), and the derivation of equations of motion via Newton-Euler or Lagrangian formulations. Dynamic models are essential for model-based controllers such as computed-torque control, optimal control, and trajectory optimisation.