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control Locomotion Math robots

geometric, kinematic and dynamic models

The geometric model describes the geometric relationships that specify the spatial extent of a given component.

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Kinematics is the study of motion of bodies without regard to the forces that cause the motion. Dynamics on the other hand is the study of the motion of bodies due to applied forces (think F=ma). For example consider orbital mechanics: Kepler’s Laws are kinematic, in that they describe characteristics of a satellite’s orbit such as its eliptical shape without considering the forces that cause that motion, whereas Newton’s Law of Gravity is dynamic as it incorporates the force of gravity to describe why the orbit is eliptical.