intermediate · YAML-driven interactive example

Joint Motor

A dynamic limb segment rotates about a revolute joint with motor target, strength, limits, load mass, and scripted torque controls to show actuator behavior in a constrained joint.

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Parameter definitions

Motor target speed (rad/s)

Desired hinge angular velocity for the revolute joint motor.

Motor strength (Nm)

Maximum force or torque available to the motor controller.

Joint limit range (rad)

Symmetric angular limit used to constrain the driven segment.

Scripted torque (Nm)

Timed torque fallback used when motor behavior is hard to observe directly.

Load mass (kg)

Distal load mass that resists motor-driven rotation.

Concepts

Motor targets

A motor attempts to drive a joint toward a target velocity or position, but available strength and load matter.

Joint limits

Limits keep the segment inside a safe angular range and can redirect energy into contact or oscillation.

Experiments

Reverse the target speed while leaving load mass unchanged.
The driven segment should rotate in the opposite direction after the control update.
Increase load mass and reset.
The motor should accelerate the endpoint more slowly.