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Dynamics
Forward vs inverse dynamics
medium
mcq
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Answer & Explanation
Discussion
In computed-torque ('inverse dynamics') control, which computation is performed?
A
Given desired joint accelerations (and q, q̇), compute the torques that achieve them
B
Given torques, simulate the resulting accelerations
C
Given an end-effector pose, compute the joint angles
D
Given joint angles, compute the end-effector pose
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