Robot dynamics — Euler-Lagrange equations of motion, Newton-Euler recursive algorithm, inertia matrix, Coriolis and centrifugal matrix, gravity vector, joint torque/force calculation, dynamic model identification (IDIM, least-squares), friction models (Coulomb, viscous, Stribeck), payload estimation, joint torque limits, computed torque control, inverse dynamics feed-forward, trajectory dynamics (joint-space and Cartesian), and KUKA/ABB dynamic model validation.
