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Dynamics Analysis and Forces

Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
 We will examine two
approaches to this problem
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• Euler – Lagrange Approach:

– Develops a “Lagrangian Function” which relates
Kinetic and Potential Energy of the manipulator, as
it is moving, thus dealing with the manipulator “As a
Whole” in building force/torque equations
• Newton – Euler Approach:
– This approach works to separate the effects of each
link on machine torques by writing down its motion
in a separable linear and angular sense. However,
due to the highly coupled motions in a robot, it
requires a forward recursion through the entire
manipulator for building velocity and acceleration
models of a link followed by a backward recursion
for force and torque on each link ‘in turn’
 Euler – Lagrange approach
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• Employs a Denavit-Hartenberg structural

analysis to define “Generalized Coordinates”
for the structural models of the machine.
• It provides good insight into controller design
related to STATE SPACE
• It provides a closed form interpretation of the
various components in the dynamic model:
– Due to Inertia
– Due to Gravitational Effects
– Due to Friction (joint/link/driver)
– Due to Coriolis Forces relating motion of one link to
coupling effects of other links’ motions
– Due to Centrifugal Forces that cause the link to have a
tendency to ‘fly away’ due to coupling to neighboring links
and its own motion
 Newton-Euler Approach
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• A ‘computationally more efficient’

approach to force/torque determination
• It starts at the “Base Space” and moves forward
toward the “End Space” – computing trajectory,
velocity and acceleration demands then
• Using this ‘forward velocity’ information the
control computes forces and moments starting at
the “End Space” and moving back to the “Base
Space”
 Defining the Manipulator
Lagrangian, L:
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L ( q , q& ) T ( q , q& )  U ( q )
h ere
T ( q , q& ) K in etic en erg y o f th e m a n ip u la to r
U ( q ) P o ten tia l en erg y o f th e m a n ip u la to r
 Generalized Equation of Motion
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of the Manipulator:

d§ w · w
Fi ¨
dt © wq&i
 L  q, q&   ¸   L  q, q&  1didn
¹ wqi
i is a link of manipulator
 Starting Generalized Equation
Solution
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• We’ll initially focus on the Kinetic energy

term (the hard one!)
• Remembering from physics:
• Kinetic Energy = ½ mV2
• Lets define the velocities for the Center of
Mass of a Link K:

vk as Linear Velocity
Zk as Angular Velocity
 Rewriting the Kinetic Energy Term:
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n ª
« 
  
vk  mK vk  Zk  DKZk
T T
 º
»
T  q, q&  ¦ « 2 »
«¬ »¼
K 1

• Notice the separation in velocities!

• mK is Link Mass
• DK is a 3x3 Inertial Tensor of Link K about its center of
mass expressed W.R.T. the base frame
– This term characterizes mass distribution of a rigid object
 Factoring out the Joint Velocity
Terms
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T  q, q&  ¦
n &
qT

«   K
ª AK T
m AK
&
q  &
q
T
  K »
BK T
DBK
&
q º

« 2 »
K 1
«¬ »¼

Simplifies to:

¦ A  
mK A   B   q&
n
K T K K T
DK BK
T  q, q&  q&T K 1
2
 Building an Equation for Potential
Energy:
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n Generalized
U (q ) ¦ mK g T c k (q ) coordinate of centers
K 1 of mass (from earlier)
g is acceleration due to gravity (a vector)
Introducing a new term:
n This is a weighted
c (q ) { ¦ mK c k (q ) sum of the centers of
K 1
mass of the links of
the manipulator
?U (q )  g T c (q )
 Finally, The Manipulator
Lagrangian Equation :
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L(q, q&) T (q, q&) U (q)

Which means:

¦  A    B   q&  g c (q)
n
K T K K T
mK A DK BK
L  q, q&    K
&
q T 1
2
  T
 Building a General L-E Dynamic
Model
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• But Remembering:

d§ w · w
Fi ¨  L q, q&   ¸   L q, q&  1didn
dt © wq&i ¹ wqi
i is a link of manipulator

Starting with
this term
 The Lagrange-Euler (Torque)
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Dynamical Model is:

n n n
7i ¦ D  q q&&  ¦¦C  q q& q&
j 1
ij j
k 1 j 1
i
kj k j  hi  q   bi  q&i 

Inertial Gravitational
Coriolis & Forces Frictional
Forces Centrifugal Forces
Forces
 Lets look at 2 examples
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• 3 Linked R-R-P Robot (SCARA Robot)

• 2 Linked R-P Robot ( T - R )
 Consider the SCARA robot arm with two revolute joints
and a prismatic joint below. Derive the expression of the
inertia matrix D(q) given the following variables and
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parameters.
‰D-H Parameters for the robot ( i )
‰Center of Mass for each links rc
‰Inertia Tensor Matrix for each links I%i Must be given !!!
‰i =1,2,3

R-R-P Robot
 Variable 1: D-H Parameter

The arm parameters of the three-joint SCARA robot

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arm are given as below:

Link Ti di ai Di
1 T1 0 a1 00
2 T2 0 a2 1800
3 00 l3 0 00
 Variable 2: Center of Mass

The center of mass of the links 1, 2, and 3 with respect to

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its respective frames x1 , y1 , z1 x2 , y2 , z2 and x3 , y3 , z3

are given as follows:

ª 1 º ª 1 º ª º
«  2 a1 » «  2 a1 » « 0 »
« » « » « »
rc(1) « 0, » rc(2) « 0 » rc(3) « 0 »
« 0 » « 0 » « l »
« » « » « 3 »
¬ ¼ ¬ ¼ ¬ 2¼

Note the negative sign. The center of mass is w.r.t. to the end of the link frame.
 Variable 3: Inertia Tensor Matrix
The inertia tensor matrix of the links 1, 2 and 3 about its
respective center of masses in the frame xc(1) yc(1) zc(1)
xc(2) yc(2) zc(2) and xc(3) yc(3) zc(3) with its origin at r (1) , r (2) , r (3)
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c c c
is given as follows:
ª0 0 0º
« » m1a12
I%1 «0 I 1 0 » with I1
«0 0 12
¬ I 1 »¼

ª0 0 0º
« » m2 a22
I%2 «0 I 2 0» with I2
«0 0 I 2 »¼ 12
¬
ªI 3 0 0º
« » m3l32
I%3 «0 I3 0 » with I3
«0 0 0 »» 12
«¬ ¼
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Inertia Tensor for a link K

 If the Link is a Rectangular Rod (of uniform mass):
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ª b2  c2 º
« 12 0 0 »
« »
« a c
2 2
»
I%K mK « 0 0 »
12
« »
« 0 a b »
2 2

« 0
¬ 12 »¼

This is a reasonable approximation for many robot arm links!

 From the D-H matrix, the relevant transformation
matrices are given as follows:
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ªc1  s1 0 a1c1 º ªc2 s2 0 a2 c2 º ª1 0 0 0º

«s 0 a1s1 »» «s «0 1 0 0 »»
«1 c1 « 2 c2 0 a2 s2 »» «
T01 T12 T23
«0 0 1 0 » «0 0 1 0 » «0 0 1 l3 »
« » « » « »
¬0 0 0 1 ¼ ¬0 0 0 1 ¼ ¬0 0 0 1¼

The homogenous coordinates of the center of masses

m1 , m2 , m3
of the links 1,2 and 3, with respect to the base frame
x0 , y0 , z0

is given by:
 ª x1(1) º
« (1) »
1
P « y1 » T 1r (1)
« z1(1) » 0 c
0
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« »
«¬ 1 »¼
ª x2(2) º
« (2) »
P
2
« y2 » T 2 r (2)
« z2(2) » 0 c
0

« »
«¬ 1 »¼
ª x3(3) º
« (3) »
P
3
« y3 » T 3r (3)
« z3(3) » 0 c
0

« »
«¬ 1 »¼
 The linear velocities of masses m1 , m2 , m3 of the
links 1,2 and 3, with respect to the base frame x0 , y0 , z0
is given by
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ª x&1(1) º
« (1) »
v1 « y&1 » J l(1) rc(1)
« z&1(1) »
¬ ¼
ª x&2(2) º
« (2) »
v2 « y& 2 » J l(2) rc(2)
« z&2(2) »
¬ ¼
ª x&3(3) º
« (3) »
v3 « y&3 » J l(3) rc(3)
« z&3(3) »
¬ ¼
 The angular velocities of the center of masses m1 , m2 , m3
of the links 1,2 and 3 with respect to the base frame
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x0 , y0 , z0 is given by

ª0º ª 0 0 0 º ªT&1 º
Z1 « 0 » T& « 0 0 0 » «T& » J a(1) q1
« » 1 « »« 2»
«¬1 »¼ «¬1 0 0 »¼ «¬ d&3 »¼

ª0º ª0º ª 0 0 0 º ªT&1 º

Z2 « 0 » T&  « 0 » T& « 0 0 0 » «T& » J a(2) q1
« » 1 « » 2 « »« 2»
«¬1 »¼ «¬1 »¼ «¬1 1 0 »¼ «¬ d&3 »¼

ª0º ª0º ª 0 0 0 º ªT&1 º

Z3 « 0 » T&  « 0 » T& « 0 0 0 » «T& » J a(3) q1
« » 1 « » 2 « »« 2»
«¬1 »¼ «¬1 »¼ «¬1 1 0 »¼ «¬ d&3 »¼
 Inertia Matrix D(q) for the SCARA robot is given by :
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Known = Inertia Tensor Matrix

¦  m  J   J    J  I  J 
3 T T
(i ) (i ) (i ) (i )
D(q) i l l a i a
i 1

Known = Linear Component of Jacobian

Known = Angular Component of Jacobian

 Full equation for the Inertia Matrix D(q) for the SCARA
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robot :

  J J  I J 
T T
(1) (1) (1) (1)
D(q ) m1 J l l a 1 a

m  J   J    J  I  J 
T T
(2) (2) (2) (2)
2 l l a 2 a

m  J   J    J  I  J 
T T
(3) (3) (3) (3)
3 l l a 3 a
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Consider the point masses m1 and m2 at the distal end of

links 1 and 2 of the following T  r robot manipulator
with a rotary joint and a prismatic joint in Figure below. Derive
the differential equations of motion of the T  r manipulator
using the Lagrangian equation.
 The Cartesian coordinate of m1 and m2 are:
m1 ( x1 , y1 ) m2 ( x2 , y2 )
­x1 r1 cosT ­x2 (r1  r2 ) cosT
® ®
¯y1 r1 sin T ¯y2 (r1  r2 ) sin T
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The First-Order Derivatives of x1 , y1 , x2 and y2 are:

­ &
°x&1 r1 sin TT ­x&2 r&2 cos T  (r1  r2 ) sin TT&
® & ®
°̄y& 1 r1 cos TT ¯y& 2 r&2 sin T  (r1  r2 ) cos TT
&
The velocities of m1 and m2 are :
V12 x&12  y&12
r12 sin 2 TT& 2  r12 cos 2 TT& 2
r 2T& 2
1
Homework !!

V22 x&22  y& 22

(r&2 cos T  (r1  r2 ) sin TT&)2  (r&2 sin T  (r1  r2 ) cos TT&) 2
r& 2  (r  r ) 2 T& 2
2 1 2
 The kinetic energies of m1 and m2 are :
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1 1
K1 m1V12 m1r12T& 2
2 2
1 1 1
K2 m2V22 m2 r2  m2 (r1  r2 ) 2 T& 2
2

2 2 2

The total kinetic energy of the manipulator is:

K K1  K 2
1 1 1
m1r1 T  m2 r2  m2 (r1  r2 ) 2 T& 2
2 &2
& 2

2 2 2
1
2
 2

2 &2 1
m1r1  m2 (r1  r2 ) T  m2 r&22
2
The Lagrangian function of the T r manipulator

L K P
1
2
 2
2 &2 1
m1r1  m2 ( r1  r2 ) T  m2 r&22
2
(m1  m 2 ) gr1 sin T  m2 gr2 sin T

It is noted that
 Similarly, for joint 2 ( r2 )
L K P
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1
2
 2

2 &2 1
m1r1  m2 ( r1  r2 ) T  m2 r&22
2
(m1  m 2 ) gr1 sin T  m2 gr2 sin T

wL
m2 r&2
wr&2
d wL
m2 &&
r2 Homework !!
dt wr&2
wL
m2 (r1  r2 )T& 2  m2 g sin T
wr2
 We have:
d wL wL
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Fr 
dt wr2 wr2
m2 r2  m2 ( r1  r2 )T 2  m2 g sin T
 TT (Torque due to T ) and Fr
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The obtained (Force due to r) can

be written as the following vector differential equation:

ªTT º ª m1r12  m2 (r1  r2 ) 2 0 º ªT&&º ª 2m2 (r1  r2 ) º & ª 0 º &2

«F » « »« » « » r&2T  « » T
¬ r¼ ¬ 0 m2 ¼ ¬ &&
r¼ ¬ 0 ¼ ¬ m2 (r1  r2 ) ¼

ª (m1  m2 )r1  m2 r2  gc os T º
« »
¬ m 2 g sin T ¼

It can be seen that the Torque and Force component is made up of the
acceleration component, velocity component and position component.