Introduction
Dynamics describe how a system moves in time and space under the action of forces. More formally, it describes the evolution of the state of a system. Robot dynamics is concerned with the relationship between the forces acting on a robot and the accelerations that they produce.
We'll start by looking at the Position and Orientation of the robot referred to as its Pose. We'll then describe how a mobile robot can move given its Kinematics and constraints. Dynamical Systems will bring the notion of time into the equation and will present a more formal definition of a dynamical systems. System Identification will characterize our physical robot to produce parameters that will allow us to control it. Finally, we'll then look at Motion Profiles and Trajectories that can be tracked by applying forces to the system.