Robot Dynamics Newton- Euler

Recursive Approach
ME 4135 Robotics &
Controls
R. Lindeke, Ph. D.

Physical Basis:

This method is jointly based on:

Newtons 2nd Law of Motion

Equation:

F mi&C

and considering a rigid link

Eulers Angular Force/ Moment

Equation:

N moment I CM i &i i I CM i i

Again we will Find A Torque Model

Each Link Individually

We will move from Base to End to find Velocities
and Accelerations
We will move from End to Base to compute force
(f) and Moments (n)
Finally we will find that the Torque is:
is the joint type

i i ni

zi 1 (1 i ) fi

zi 1 bi q&i

parameter (is 1 if
revolute; 0 if
prismatic) like in
Jacobian!

Gravity is implicitly included in the model by considering

acc0 = g where g is (0, -g0, 0) or (0, 0, -g0)

Lets Look at a Link Model

We will Build Velocity Equations

Consider that i is the joint

type parameter (is 1 if
revolute; 0 if prismatic)

Angular velocity of a Frame

k relative to the Base:

NOTE: if joint k is prismatic,

the angular velocity of frame
k is the same as angular
velocity of frame k-1!

k k 1 k q&k zk 1

Angular Acceleration of a Frame

Taking the Time Derivative of the angular velocity

model of Frame k:

&
&
&k &k 1 k q&
k zk 1 k 1 qk zk 1
Same as (dw/dt) the
angular acceleration in
dynamics

Linear Velocity of Frame k:

Defining sk = dk dk-1 as a link vector, Then the

linear velocity of link K is:

vk vk 1 k sk 1 k q&k zk 1

Leading to a Linear Acceleration Model of:

Normal component of
acceleration (centrifugal
acceleration)

&k &k 1 &k sk k k sk

&
&
1 k q&
k zk 1 2k qk zk 1

This completes the Forward NewtonEuler Equations:

To evaluate Link velocities & accelerations, start with the BASE (Frame0)

0 0
&0 0
v0 0
&0 g

Its Set V & A set (for a fixed or inertial base) is:

As advertised, setting base linear acceleration propagates gravitational

effects throughout the arm as we recursively move toward the end!

Now we define the Backward

(Force/Moment) Equations

Work Recursively from the End

We define a term rk which is the vector from
the end of a link to its center of mass:

rk ck d k
ck

is location of center of mass of Link k

Defining f and n Models

f k f k 1 mk &k &k rk k k rk
The term in the brackets represents
the linear acceleration of the center
of mass of Link k

nk nk 1 sk rk f k rk f k 1 Dk &k
k Dkk

Inertial Tensor of Link k

in base space

Combine them into Torque Models:

We will begin our recursion by setting fn+1 = -ftool and nn+1= -ntool
Force and moment on the tool

NOTE: For a robot moving

freely in its workspace without
carrying a payload, ftool = 0

k k nk zk 1 1 k f k zk 1 bk q&k
T

The N-E Algorithm:

Step 1: set T00 = I; fn+1 = -ftool; nn+1 = -ntool; v0 = 0;

vdot0 = -g; 0 = 0; dot0 = 0

Step 2: Compute

Zk-1s

Angular Velocity & Angular Acceleration of Link k

Compute sk

Compute Linear velocity and Linear acceleration of Link k

Step 3: set k = k+1, if k<=n back to step 2 else set k = n

and continue

The N-E Algorithm cont.:

Step 4: Compute
rk (related to center of mass of Link k)
fk

(force on link k)

Dk R Dk R
k
0

Nk (moment

k T
0

on link k)

tk

Step 5: Set k = k-1. If k>=1 go to step 4

So, Lets Try one:

Keeping it
Extremely Simple
This 1-axis robot
is called an
Inverted Pendulum
It rotates about z0
in the plane

Writing some info about the device:

a1
2

c1 0
0
1

0 0 0
ma

D1
0
1
0

12

0 0 1

C1 S1 0 a1C1
S

C
0
a
S
1
1 1
T01 A1 1
0
0 1
0

0
0
0
1

2
1 1

Link is a thin
cylindrical rod

Continuing and computing:

c 1 H1T01c1
1 0 0 0
0 1 0 0

0 0 1 0
a1C1
2

aS
1 1
2

C1 S1 0 a1C1 a1
2

C1 0 a1S1 0

1

0
0 1
0
0

0 0 1
1
0

Inertial Tensor computation:

D1 R D1 R
1
0

1 T
0

C1 S1 0

2
m1a1

S1 C1 0

12

0
0 1

S
S1C1
1
2
m1a1
2

C1
S1C1
12 0
0

0 0 0
C1 S 1 0
0 1 0 S1 C 1 0

0 0 1
0
0 1
0

0
1

Let Do it (Angular Velocity & Accel.)!

Starting: Base (i=0)
Ang. vel = Ang. acc =
Lin. vel = 0
Lin. Acc = -g (0, -g0, 0)T
1 = 1

0
0
1 0 q&1 0 q&1 0
1
1
0
0
q&
& 0
&
&1 0 q&
1 0

1
1
1
a1C1
1 0 0 0


a
S
s1 H o (O1 O0 ) 0 1 0 0 1 1

0
0 0 1 0

1


a1C1
a1S1

Linear Velocity:
v1 v0 1 s1 1 1 q&1 z0
0
0 q&1a1 0

1
S1

&
a1q1 C1

0

C1

S 1 1 q&
1
1

0
0

Linear Acceleration:
&
&
1 g 1 s1 1 1 s1

Note:
g = (0, -g0, 0)T

S1
0 S1
C q& 0 a q& C
&
g a1q&
1
1
1
1 1 1
0
1 0
S1
C1
C a q&
2 S
&
g a1q&
1
1
1 1
1
0

0
S1
C1
C a q&
2 S
&
g a1q&
1
1
1 1 1
0
0

Thus Forward Activities are done!

r1 c1 O1

Compute r1 to
begin Backward
Formations:

a1C1
2

a1C1
aS
1 1 a1S1

0
0

C1
a
1 S1
2
0

Finding f1
&
f1 m1{&
1 1 r1 1 1 r }

0
&
a1q&
1
0
2
1

Consider:
ftool = 0

m1{&
1

&
a1q&
1

m1{&
1

m1{&
1

m1

0
a q&
q&1 0 1 1

2
1
0 S1
2
a1q&1
0 C
1 }

2
1 0

C1
S
1
0

S1
C

C 1
0
0 S }
1

1
0

S1
C1
2
&
a1q&
C a1q&1 S }
1
1

2
2

0
0

S1

a q&
2
&
g a1q&
1 C1
1 1
0

C1
S1
C1
2
S a1 q&1 C a1q&1 S
1

1
1 2
2

0
0
0

Collapsing the terms

f1 m1

m1

S1

2
&
a1q&
a1q&1

1
g
C1
2
2
0

&
&
a1 q&
1S1 q C1
2
1

g0

C1
S
1
0

&
&
a1 q&
1C1 q S

Note f1 is a Vector!

2
1 1

Computing n1:

This X-product goes to Zero!

n1 s1 r1 f1 D1&1 1 D11

C1

a1 S1 1

2
0

C1

a1

S1 m1

0
C1
2 0
2 2 0
&
m1a 1 q&
S f m1a 1 q&
1 0 0
1
0

1
1


12

12

0
1
1
1

2
&
&
a1 q&
S

q
1 1
1 C1

g0

2
&
&
a1 q&
C

q
1 1
1 S1

&
&
ma q
0 1 1 1

12

2
2

&
&
&
&
&
&
a
q
C

q
S
a
q
S

1
1 1
1 1
1
1 1
1 C1
a1m1
S1

C g
2 1 0

2
2

The Link Force Vector

0
0

0
0
2
0 m1a1 q&
&
1
0

12
1
1

Simplifying:

0
m1 2
g 0 m1a1C1
&
n1 a1 q&
0
1

3
2

Writing our Torque Model

Dot (scalar) Products

1 1 n1 gz0 1 1 f1 gz0 b1 q&1

T

m1
0 0
3

0
0
g 0 m1a1C1
T
2
&
a1 q&
g 0 1 1 f g 0 b1 q&1
1

2
1
1

m1a12
g 0 m1a1C1
&
1
b1 q&1
q&
1
2
3

Homework Assignment:

Compute L-E solution for Inverted Pendulum &

Compare torque model to N-E solution

Compute N-E solution for 2 link articulator (of slide

set: Dynamics, part 2) and compare to our L-E
torque model solution computed there

Consider Our 4 axis GMF cylindrical robot if the

links can be simplified to thin cylinders, develop a
generalized torque model for the device.