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Welcome to the Robotics4fun wiki!

I will be your guide through this world of robots and fun. Don't panic. Mathematics is required but I'll recommend some books for you to take a look and learn.

What is a robot?

A robot is a software and/or hardware application which executes certain task. In mechanical sense, it has multiple physical bodies constituted by certain mass m, which is distributed through the respective body. They may or may not be propelled by actuators systems, which may be electrical, pneumatic or hydraulic. Though possible, this library does not contemplate such models.

Mathematics formalims

Mechanically, every body with mass and within a field and/or with velocity contains, by definition, energy. Namely, these are potential and kinetic energy. For field, one understand gravitational, electrical or magnetic field. Since there was not defined dissipative energies, these systems are so-called conservatives. Dissipation arises in multiple ways. In mechanical systems, the most commons are by coulomb or viscuous friction.

Minimal example

Take a look at /examples/1_mass/code/minimal.m. On shell:

>> minimal
>> sys.dyn.eqdyns

ans =
 
b*xp + m*xpp == F

References

The references are here. Take a look at your local library, bookstore, or wherever you afford your books.