How to choose between joint Modes

[fairytalef00]

hello!

I'm a new student studying robotics.

My goal is to implement manipulator and human interaction within a simulator.
After trying coppeliaSim myself, I have a lot of questions, which led me to ask this question.


To be more specific, I want to input motion data (x,y,z,r,p,y) into each joint of the humanoid robot to make it walk and physically interact with other objects (e.g. push or pull).

When I add a joint, I can select 3 joint modes, but I'm not sure if I should choose Kinematic or Dynamic mode to create a humanoid robot.


I don't understand why there is a kinematic mode.
Shouldn't forces be taken into account for an accurate dynamic model?

I'm worried that if I set kinematic mode on a joint, this humanoid will not be kinematically correct.



To summarize, I'm wondering which JOINT MODE would be appropriate to create a kinematic humanoid robot.
I'm also wondering why these modes are separated.
Are there any advantages or disadvantages?


Thank you!

[ljw_SpaceRobot]

考虑动力学就选动力学模式吧，用户手册里有关节模式的详细说明