Dynamics Model

A mathematical model describing how forces and torques produce motion in a robot. The standard form is the manipulator equation: M(q)q̈ + C(q,q̇)q̇ + g(q) = τ, where M is the mass matrix, C is Coriolis/centrifugal, g is gravity, and τ is joint torque. Accurate dynamics models are essential for computed torque control, simulation, and model-based reinforcement learning.