ME5118 Chap 6

機器人簡介（ME5118）
Chap 6: Manipulator Dynamics
林沛群
國立台灣大學
機械工程學系
機器人簡介 ME5118 Chap 6 - 林沛群 1
Acceleration of a Rigid Body -1
 Differentiation of a velocity vector
+Δ − ( )
= = lim
→ Δ
Derivative of velocity vector relative to frame { }
( )= ( )
Expressed in frame { }
= ( )=
When both frames are the same
=
Acceleration of the origin of frame { } relative to the
universe reference frame { }
 Angular acceleration vector Ω

+ − Ω ( )
Ω = = lim
→
Derivative of angular velocity of frame { }
relative to frame { }
{ } { }
( Ω ) Ω
Expressed in frame { }
= Ω
Angular acceleration of frame { } relative to the
universe reference frame { }
 Angular acceleration
Ω = Ω + Ω
diff.
Ω = Ω + Ω
= + Ω + Ω × Ω

Rigid Body Motion -1
 Freshman Dynamics
Following the materials described in Chap 5
= + +ω× /
= x I+y J +( / ı̂ + / ȷ̂) + ω × (x / I+y / J)
diff. r /
r
= x I+y J
+ / ı̂ + / ȷ̂ + ω × ( / ı̂ + / ȷ̂) r
{ }
X
+ω × x / I+y / J
+ω × (( / ı̂ + / ȷ̂) + ω × (x / I+y / J))
Rigid Body Motion -2
= x I+y J
+ω × x / I+y / J + ω × (ω × (x / I + y / J))
+2ω × ( / ı̂ + / ȷ̂) + / ı̂ + / ȷ̂
= +ω× / +ω×ω× /
r /
+2ω × +
Coriolis acceleration “relative” acceleration { }
 Thus { }
=
+ Ω × + Ω × Ω ×
+2 Ω × +

Mass Distribution -1
 Inertia tensor relative to frame { }

{ }
− −
= − −
− −
Mass moment of inertia >0 Mass product of inertia
= ( + ) =
= ( + ) =
= ( + ) =
 Inertia tensor
 Constant real symmetric matrix (orthogonally diagonalizable)
its eigendecomposition (i. e. , = )

− − 0 0
= − − = 0 0
− − 0 0
principal moment of inertia
Rotation matrix,
revealing directions of the principal axes
 + + = =
o Trace is invariant under a similarity transformation
 If xy-plane is plane of symmetry, then = =0

 Parallel-axis Theorem
 Computing how the inertia tensor changes under translations of
the reference coordinate system
= + ( + )
C: at COM of the body
= − A: arbitrary frame
Vector-matrix form
= + [ − ] =
COM relative to { }
Newton’s Equation and Euler’s Equation
 Newton’s equation
= ( )=
 Euler’s equation
= ( )
Even if using inertial frame, it
can change during motion
= + ×
C: body frame, whose
origin is located at COM
: constant matrix

Acceleration “Propagation” from Link to Link -1
 Strategy: Represent linear and angular

accelerations of link in frame { }, and find their
relationship to those of neighboring links
Axis i+1
Axis i
COM
Link i
 Rotational Joint (Link i+1)

 Angular acceleration propagation
In Chap 5
= +
0
diff. = 0
= + × +
= + × +

 Linear acceleration propagation
= + × + × ×
= ( + × + × × )
 Prismatic joint (Link i+1)

 Angular acceleration propagation
= =
 Linear acceleration propagation
= + × + × ×
+2 × +
0
= 0
= + × + × ×
+2 × +
 COM
= + × + × ×
: COM of the ith link
Force Propagation from Link to Link -1
 Inertia force and torque acting at the COM

=
= + ×
Axis i+1
Axis i
Link i COM

= +
= + + × + ×
Axis i+1
Axis i
Link i COM
 Thus
 Revolute joint
=
 Prismatic joint
=
 Comments
 Inclusion of gravity force: = = 9.81 /
 A manipulator moving in free space: = 0 =0

Iterative Newton-Euler Dynamic Formulation
 Outward iterations
 Link 1 to link n
 Velocities and accelerations
 Inward iterations
 Link n to link 1
 Forces and torques
 Revolute joint vs. prismatic joint: Choose correct equations
 General structure, can be applied to any manipulator
 Easy for numerical computation

Example: A RR Manipulator -1
 Conditions:
= =0 =0
=0 {3}
= =0
,
=0 =
=0
− 0
= 0
0 0 1

 Velocity and acceleration propagations

0
= + = = 0
0
= + × + = 0
0 0
= ( + × + × × )= − 0
0 0 1 0
= + × + × × =
0
0 − − +
= + + 0 = +
0 0 0 0
− +
= +
0
0
= + × = 0
0
0
= + = 0
+
0
= + × + = 0
+
= ( + × + × × )=
0 − + − +
= − 0 + = + +
0 0 1 0 0

= + × + × ×
− + 0 − ( + )
= + + + ( + ) + 0
0 0 0
− + − ( + )
= = + + + ( + )
0
0
= + × = 0
0
 Force and torque propagations

= + =
= + + × + ×
0
= 0
+ + + ( + )
= +
− 0 − + − ( + )
= 0 + + + ( + )
0 0 1 0
− +
+ +
0

= + + × + ×
0
= 0
+ + + ( + )
0
+ 0
+
0
+ 0
− + + + + +
 Joint torques
=
= + + 2 + + m +m
− −2 + + +
=
= + + + +

The Structure of Dynamic Equations -1
 The state-space equation

= Θ Θ+ Θ, Θ + G Θ
×1 × ×1 ×1 ×1
Mass Centrifugal gravity
matrix Coriolis
 Revisit the RR manipulator

+2 + ( + ) +
Θ =
+
− −2
Θ, Θ =
+ +
G Θ =
 The configuration-space equation

= Θ Θ+ Θ ΘΘ + Θ Θ +G Θ
×1 × ( − 1) × ×1
×
Mass 2
Coriolis Centrifugal gravity
matrix
×1
ΘΘ = … Θ = …
( − 1) ×1
×1
2

 Revisit the RR manipulator

− −2
Θ, Θ = = Θ ΘΘ + Θ Θ
−2
Θ = ΘΘ =
0
0 −
Θ = Θ =
0
Lagrangian Formulation of Manipulator Dynamics -1
 Newton-Euler: Force-moment-based analysis
Lagrange: Energy-based analysis
 Of course, for a system, both methods should yield the

same equations of motion

 Kinetic energy
1 1
= +
2 2
1
= = Θ, Θ = Θ M(Θ)Θ
2
 Potential energy
=− +
Shift the zero reference height
= = ( )
 Lagrangian
ℒ , = , − ( )
 Equation of motion for the manipulator
ℒ ℒ
− =
Θ Θ
− + =
Θ Θ Θ

Example: An RP Manipulator -1
0 0
= 0 0
0 0
0 0
= 0 0
0 0
 Kinetic energy
1 1
= +
2 2
1 1
= ( + )+
2 2
1 1
, = + + + +
2 2
 Potential energy
= +
= +
Θ = + + +
Shift the zero reference height
 Lagrangian
+ + +
=
Θ
0
=
Θ
+ cos
=
Θ sin
 Equations of motion
= + + + +2
+ +
= − +
state-space representation
= + ( , )+ ( )
+ + + 0
=
0
2
( , )=
−
+
( )=
Manipulator Dynamics in Cartesian Space -1
 Dynamic equations
 In joint space
= + ( , )+ ( )
 In Cartesian space
= + , + ( )
 Formulation
=
= = + , + ( )
= Θ = Θ+ Θ Θ= − Θ

Manipulator Dynamics in Cartesian Space -2
= Θ − Θ Θ+ Θ, Θ + Θ
= + , + ( )
Θ = Θ (Θ) (Θ)
Θ, Θ = Θ Θ, Θ − Θ Θ Θ Θ
Θ = Θ (Θ)
Revisit Example: A RR Manipulator -1
 In joint space
+2 + ( + ) +
Θ =
+
=0
=0 {3}
− −2
Θ, Θ =
+ +
G Θ =

Revisit Example: A RR Manipulator -2
 Jacobian
0 1 0
Θ = Θ =
+ − −
0
Θ =
− 0
 In Cartesian space
+ 0
Θ = Θ (Θ) (Θ) =
0
Θ, Θ = Θ Θ, Θ − Θ Θ Θ Θ
− + − − (2 + + )
=
+
+
Θ = Θ Θ =
Torque Equation
 In Cartesian space
= = ( + , + )
= + + [ ]+ ( )
, = + [ ]

Revisit Example: A RR Manipulator
, = + [ ]
+ − + − − (2 + + )
=
0
+
− −
Θ =
0 −
Θ =
0
Friction
 Viscous friction
 Coulomb friction
= 0, = “static coefficient”
≠ 0, = “dynamic coefficient”

The End
 Questions?

ME5118 Chap 6

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機器人簡介（ME5118）

Chap 6: Manipulator Dynamics

機器人簡介 ME5118 Chap 6 - 林沛群 1

Acceleration of a Rigid Body -1

 Differentiation of a velocity vector

 Angular acceleration vector Ω

機器人簡介 ME5118 Chap 6 - 林沛群 3

Acceleration of a Rigid Body -3

機器人簡介 ME5118 Chap 6 - 林沛群 4

Following the materials described in Chap 5

= x I+y J +( / ı̂ + / ȷ̂) + ω × (x / I+y / J)

機器人簡介 ME5118 Chap 6 - 林沛群 5

Rigid Body Motion -2

機器人簡介 ME5118 Chap 6 - 林沛群 6

 Inertia tensor relative to frame { }

Mass moment of inertia >0 Mass product of inertia

機器人簡介 ME5118 Chap 6 - 林沛群 7

its eigendecomposition (i. e. , = )

 If xy-plane is plane of symmetry, then = =0

機器人簡介 ME5118 Chap 6 - 林沛群 8

機器人簡介 ME5118 Chap 6 - 林沛群 9

Newton’s Equation and Euler’s Equation

機器人簡介 ME5118 Chap 6 - 林沛群 10

 Strategy: Represent linear and angular

機器人簡介 ME5118 Chap 6 - 林沛群 11

Acceleration “Propagation” from Link to Link -2

 Rotational Joint (Link i+1)

機器人簡介 ME5118 Chap 6 - 林沛群 12

 Linear acceleration propagation

機器人簡介 ME5118 Chap 6 - 林沛群 13

Acceleration “Propagation” from Link to Link -4

 Prismatic joint (Link i+1)

機器人簡介 ME5118 Chap 6 - 林沛群 15

Force Propagation from Link to Link -1

 Inertia force and torque acting at the COM

機器人簡介 ME5118 Chap 6 - 林沛群 16

機器人簡介 ME5118 Chap 6 - 林沛群 17

Force Propagation from Link to Link -3

 A manipulator moving in free space: = 0 =0

機器人簡介 ME5118 Chap 6 - 林沛群 18

 Velocities and accelerations

 Forces and torques

 Revolute joint vs. prismatic joint: Choose correct equations

 General structure, can be applied to any manipulator

 Easy for numerical computation

機器人簡介 ME5118 Chap 6 - 林沛群 20

 Velocity and acceleration propagations

機器人簡介 ME5118 Chap 6 - 林沛群 21

機器人簡介 ME5118 Chap 6 - 林沛群 22

機器人簡介 ME5118 Chap 6 - 林沛群 23

 Force and torque propagations

機器人簡介 ME5118 Chap 6 - 林沛群 24

機器人簡介 ME5118 Chap 6 - 林沛群 25

機器人簡介 ME5118 Chap 6 - 林沛群 26

 The state-space equation

 Revisit the RR manipulator

機器人簡介 ME5118 Chap 6 - 林沛群 27

The Structure of Dynamic Equations -2

 The configuration-space equation

機器人簡介 ME5118 Chap 6 - 林沛群 28

 Revisit the RR manipulator

機器人簡介 ME5118 Chap 6 - 林沛群 29

Lagrangian Formulation of Manipulator Dynamics -1

 Newton-Euler: Force-moment-based analysis