Two-link robot

FanZhang
Electrical Engineering

1. System nonlinear differential equation

This two link robot moves in the xy plane, with gravity g acting in y direction. Each
joint has actuator so that torque can be provided when needed. For simplification, the
two links are modeled as point masses m1 and m2 concentrated at the end of the link.
The system has no friction so that there

The position and velocity of each link can be calculated as

The Lagrangian of this dynamic system is defined as the difference between the
kinetic and potential energy,

.
Kinetic energy equation

Potential energy equation

Then using Euler-Lagrange equation to get the torque at each joint.

I get

2. Equilibrium point and propogation

Assume torque 1 and 2 are 0.
We define new variable in order to convert the dynamic to linear model.
X1= θ1
X2= θ2
X3= θ1̇
X4=θ2̇
Then rewrite the equation
𝑋1̇ = x3
𝑋2̇ =x4

𝑋3̇ =(g*m2*cos(x1 + 2*x2) - g*m2*cos(x1) - 2*g*m1*cos(x1) +

L1*m2*x3^2*sin(2*x2) + 2*L2*m2*x3^2*sin(x2) + 2*L2*m2*x4^2*sin(x2)
+ 4*L2*m2*x3*x4*sin(x2))/(L1*(2*m1 + m2 - m2*cos(2*x2)))

𝑋4̇ =((L2 + L1*cos(x2))*(L1*g*cos(x1)*(m1 + m2) + L2*g*m2*cos(x1 + x2)

- L1*L2*m2*x4*sin(x2)*(2*x3 + x4)))/(L1^2*L2*(m1 + m2 - m2*cos(x2)^2))
- ((L1*sin(x2)*x3^2 + g*cos(x1 + x2))*(L1^2*m1 + L1^2*m2 + L2^2*m2 +
2*L1*L2*m2*cos(x2)))/(L1^2*L2*(m1 + m2 - m2*cos(x2)^2))

To calculate equilibrium point, we let f1=f2=f3=f4=0

Then the two equilibrium point is (pi/2,0,0,0), (-pi/2,0,0,0),(pi/2,pi,0,0). That is

the two link is pointed vertically up and down. And the eigenvalue can be
calculated as (2.39,5.78,-2.39,-5.78) at point (pi/2,0,0,0). It is unstable.
(5.78i,2.96i,-5.78i,-2.39i)at point(-pi/2,0,0,0). It is center point.
(-3.72,3.72,-3.72i,3.72i) at point (pi/2,pi,0,0).
The propagation plot is shown below:
 Initial condition x1=-pi/5, x2=0, x3=0, x4=0

Initial condition x1=-pi/5,x2=-pi/5,x3=0,x4=0

When the initial x1 and x2 is less than 0, the system oscillates at different
amplitude with different initial conditions.

Initial condition x1=-pi/2,x2=0,x3=0,x4=0

When it is at equilibrium point -pi/2, it stays still.
 Initial condition x1=pi/2,x2=0,x3=0,x4=0
When it is at equilibrium point pi/2, it should stay still. But it exploded at last.
By checking states of x3, I noticed that Matlab gives a small perturbation since
state 2. And this small perturbation will eventually exploded. Also, when x1
x2 are greater than 0, the system will explode. I will look into this. But the
possible reason is that the range of theta should be with 0 to pi.

3. Bifurcation
In this part, an external force F is introduced to this system. The force is applied
at the end-effector (the end of link two). The actuators at joint 1 and 2 do not
apply torque.

The external force can be decomposed into the torque applied to joint 1 and 2
by using the equation.
𝜏 = 𝐽𝑇 𝐹
 1. When F is in y direction, equilibrium points stay the same.
I tried Fx=0, arbitrary value for Fy, both positive and negative, equilibrium
points stay the same.

2. When F has x direction component. There is only one equilibrium point.

For example, when Fx=10 Fy =10.

State space is

𝑋1̇ = x3

𝑋2̇ =x4

𝑋3̇ =-(50*sin(x(1) + 2*x(2)) - cos(x(1) + 2*x(2)) - 97*cos(x(1)) - 50*sin(x(1)) +

10*x(3)^2*sin(x(2)) + 10*x(4)^2*sin(x(2)) + 5*x(3)^2*sin(2*x(2)) +
20*x(3)*x(4)*sin(x(2)))/(5*(cos(2*x(2)) - 3))

𝑋4̇ =((2*cos(x(2)) + 3)*(5*sin(x(2))*x(3)^2 - cos(x(1) + x(2)) + 50*sin(x(1) +

x(2))))/(5*(cos(x(2))^2 - 2)) - ((cos(x(2)) + 1)*(10*sin(x(1) + x(2)) - cos(x(1) + x(2))/5
+ (48*cos(x(1)))/5 + 10*sin(x(1)) - x(4)*sin(x(2))*(2*x(3) + x(4))))/(cos(x(2))^2 - 2)
Equilibrium point is (-0.764,0.78), and eigenvalue is
0.0000 + 2.3177i
0.0000 + 4.1487i
0.0000 - 2.3177i
0.0000 - 4.1487i
Central point.
Propagation plot

Initial condition x1=-0.76,x2=0.78,x3=0,x4=0

 Initial condition x10,x2=0,x3=0,x4=0
The system will oscillate.