IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

PERFORMANCE MEASUREMENT AND DYNAMIC ANALYSIS OF TWO

DOF ROBOTIC ARM MANIPULATOR

Y. D. Patel1, P. M. George2
1
Associate Professor, Department of Mechanical Engineering, A. D. Patel Institute of Technology, New Vallabh
Vidyanagar, Gujarat, India, yash523@rediffmail.com
2
Professor, Department of Mechanical Engineering, Birla Vishvakarma Mahavidyalaya Engineering College, Vallabh
Vidyanagar, India, pmgeorge02@yahoo.com

Abstract
Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for
servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities
is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried out for the
manipulator. Dynamic analysis using Lagrangian’s and Newton’s Euler approach is worked out analytically using MATLAB and
results are plotted for their comparison.

Index Terms: Forward kinematics, Inverse Kinematics, Workspace boundary, Singularity, Dynamics
-----------------------------------------------------------------------***-----------------------------------------------------------------------

1. INTRODUCTION centripetal and coriolis forces [4]. Kinematic and dynamic

parameters are analyzed using ANNOVA to imitate the real
Automation is an integral part of day to day activities of time performance measurement of 2-DOF planar manipulator
modern manufacturing organizations throughout the world. [5]. Optimal dynamic balancing is formulated by minimization
Serial as well as parallel robotic manipulators play a wider and of the root-mean-square value of the input torque of 2DOF
significant role for automation in those organizations. serial manipulator and results are simulated using ADAMS
Advancement in serial manipulators is lucrative for the software [6]. The dynamic parameters of 2 DOF are estimated
researchers either for its better control, singular and results are validated through simulation [7]. Non-linear
configurations, optimization of the manipulator parameters or control law for serially arranged n-link is derived using
improving workspace. The prime importance in study of robot Lyapunov-based theory by M W Sponge [8]. Recently,
motion without regard to forces that produce it is still a position control using neuro-fuzzy controller is proposed for
challenging area for researchers for any type of manipulators. 2-DOF serial manipulator [9].
Typically, it is constrained by the geometry of links used for
the configuration. Such areas include robot arm workspace- Forward and inverse kinematics, DH parameters formulations
points cloud of robotic manipulator reach, singularity- a and dynamic analysis for 2 DOF robot arm is as under,
position in the robot's workspace where one or more joints no
longer represent independent controlling variables. The
equally important aspect of dynamic studies of the
manipulator is to understand nature and magnitude of forces
acting, singularity avoidance, power requirements as well as
optimization criterion. PD control with computed feed forward
controller was compared and was found best amongst
computed-torque control, PD+ control, PD control with
computed feed forward and PD control based on root mean
square average performance index by Reyes and Kelly [1].
Artificial Neural Network method as an alternative solution
for forward and inverse kinematic mapping was proposed by
Jolly Shah, S.S.Rattan, B.C.Nakra [2]. DH Parameter
formulation represented using four parameters by Denavit &
Hartenberg (1955) [3], which showed that a general
transformation between two joints in a space. The decoupling Fig -1: Two DOF planar manipulator
of dynamic equations eliminates torques due to gravitational,

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

2. FORWARD KINEMATICS Table -1: DH Parameters

function of joint variables P x, y f q .

L θ
The position and orientation of end effectors is a non linear Link α a d θ

L θ
1 0 0
x L cosq L cos q q
2 0 0

C S 0 L C C S 0 L C
(1)

y L sinq L sin q q
S C 0 L S S C 0 L S
,
T ' + T ' +
(2)
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
Joint ranges are constrained for the manipulator analysis in the

C S 0 L C L C
present case as,

90° q ≪ 90° and 45° q ≪ 45° S C 0 L S L S

,
T ' +
0 0 1 0
By differentiating the above two expressions, 0 0 0 1
x L sinq ∙ q L sin q q q q
L- Link length of ith link
(3) Where,

y L cosq ∙ q L cos q q q q θ- Joint rates of ith actuator

C cosθ
(4)

S sinθ
C cos θ θ
In matrix form,

x L sinq L sin q q L sin q q q S sin θ θ

! " ! "! "
y L cosq L cos q q L cos q q q

X J∙q Forward Kinematics

Where, X is the velocity of end effector, J is jacobian matrix
Task Joint

and q represents joint rates. For a rotational joint the analytic a Space
Inverse Kinematics
Space
geometric jacobian are different. Jacobian matrix represents
the relationship between rates of change of pose with respect
to joint rates. Rank deficiency of jacobian represents
singularity. Fig -3: Kinematic Mapping

3. INVERSE KINEMATICS
R P
The pose of the robot manipulator H / 1 is known and
Rate of change Rate of change

0 1
Jacobian
of Cartesian of joint position
pose the joint variables need to be identified for a pose. The
geometric solution of the inverse kinematics are summarized
2.1 DH parameters of 2DOF arm in the form of,

x y L L
cosq
2L L

y L cosq L x L sinq
tanq
x L L cosq yL sinq

Joint velocity and the end-effectors velocity has a velocity

constraint and is expressed as,

q J4 X

C / L S S / L S
J4 ! "
L C L C /L L S L S L S /L L S
Fig -2: Frame attachment for Two DOF planar manipulator

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Determinant of inverse jacobian matrix is C S S C /

L L S . If the value of determinant is zero for given task
space coordinates then the resulting configuration is singular. 1

Desired pose can be achieved by iterative determination of the

Norm aliz ed m u
joint angles. Multi valued inverse mapping and redundancy
0.5
are common problems with inverse kinematic.

4. PERFORMANCE MEASUREMENT 0
0.6
Manipulability measures the effective robotic pose for object 0.4 0.4
0.2 0.2
manipulation with in workspace. The term was proposed by 0 0
-0.2
Yoshikawa [10] and manipulability index (μ is defined as, y (m)
-0.2 -0.4
x (m)

μ |det J | 9 σ- Fig -4 (b): Mobility Index μ

-;
Moreover, jacobian matrix loses its rank then the
Where, J is jacobian of robot kinematics. For a two DOF RR- corresponding robot configurations are termed as singular

of μ L L |sinq |. The manipulability index always varies

robotic manipulator, the manipulability index is in form configurations. It means for the smaller movements in
operational space large amount of velocities are required at
within the workspace. The normalized mobility index is also joints.
an alternative way to represent a singular configuration and
determining well conditioned workspace. Its value near to zero
600.0
near boundaries shows boundary singularities. The condition Condition Number
number is another measure of presence of singularity as well 400.0
as dexterity of robotic pose. Normally, the larger value of 200.0
condition number above 30 indicates presence of singularity. 0.0
The condition number is representation of an amplification 0 2 4 6
factor of error during actuation. It is used for optimum

manipulation within workspace. It ranges from 1 κ ∞.

trajectory planning and gross motion calculation of robotic Time

Hence, the local conditioning index also known as reciprocal

of condition number is used to determine control accuracy, 1.5
Mobility Index

dexterity and isotropy of manipulator. Figure 4(a) and 4(b) 1

within workspace for l 0.2m and l 0.15 m without time

shows the variation of mobility index and condition number
0.5
lag between servomotors with cosine input using MATLAB 0
program respectively. The position curve is also plotted in 0 2 4 6
same figure as shown on xy-plane for specified joint ranges.
Time (sec)

600
Fig -5: Variation of condition number and mobility index
Condition number

400
with respect to time

q A ∗ cos C360 ∗ BI C is called a general cosine

F
G
200

0 function, which is used as an input to the both servo motors

0.6
0.4 0.4 simulation for kinematic and dynamic analysis. In the
0.2 0.2
0 0 expression A, B, C and T affects amplitude, phase, offset
-0.2
y (m)
-0.2 -0.4 (horizontal translation) and period (vertical translation)
x (m)
respectively.

Fig -4 (a): Variation of condition number

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

The above equation can be rearranged in the form of,

x
1.5
cos(360*x/T)
]x `
i \x _
1
τ g c i 0 c
/τ 1 ! "\ _
g c i 0 c i \xZ _
0.5

\xW _
Amplitude

0 cos(360*x/T)-1
-0.5 0 100 200 300 400 [xV ^
-1
The inertia matrix of 2 DOF robot arm is symmetric and
-1.5 positive definite and its elements are,

i i
! "
-2

i i
cos(360*x/T)+10
-2.5
Angle (deg)
T=2
i m aa m a aa 2a a a C I I
Where,

i m aa a aa C I
i m aa a aa C I
Fig -6: Cosine function with horizontal and vertical offset

5. DYNAMIC ANALYSIS i m aa I

The dynamic behavior of manipulator is described in terms of The inertia has maximum value for fully extended arm.
the time rate of change of the robot configuration in relation to The elements of centripetal and coriolis matrix,

c c 2m a a a S xW m a aa S xW
the joint torques exerted by the actuators. Hence, the resulting
/c c 1 ! "
m a aa S x 0
equation of motions represents such relationship in form of set
of differential equations that govern the dynamic response of
the robot linkage to input joint torques. Dynamic model for
two DOF robot using Newton’s Euler approach, the dynamic Entries of gravitational terms are,

g m ga a C m g a C aa C
equations are written separately for each link. Equations are
/g 1 ! "
m ga a C
evaluated in numeric or recursive manner. In this case, the

joint torques τ and τ are coupling moments.

sum of forces is equal to variation of linear momentum. The

M q . qL C q, qL . q g(q) f q τM
When arm is fully extended in the x-direction, the effect of
gravitational moment becomes maximums. The closed form
dynamic equations of n-degree-of-freedom robot in the form

q Joint displacements
Where, of,

q Joint velocities e e e

qL Joint accelerations τ- c M-d qL d c c C-dg q d qg G- q- f- q- ,

M q Manipulator inertia matrix df d; g;
C q, qL Matrix of centripetal & coriolis torques i 1, … . . , n
g q Gravitational torques
f q Friction torques
τM Applied torque inputs
Lagrangian Euler approach is based on differentiation of
energy terms with respect to the systems variable and time.
Internal reaction forces are automatically eliminated using this
For a two degree of freedom manipulator, method. Closed form equations are directly obtained. Here, the

τ i i x c c x g
/g 1 Xx Y
sum of torques is equal to variation of angular momentum.
/τ 1 ! " /x 1 /c c 1 /x W 1
i i
The total energy stored in each link is represented as,
V

1 1
τ- c i m- |Va- | Iω l
2 2 - -
Where,
-;
qL x qL xV
q x q xW
q x q xZ
The resulting expression as same as obtained using Newton’s
Euler approach. Lagrangian formulation is simpler than
Newton’s Euler approach.

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5.1 Mass Properties of Both Links 180

Theta-1 (degree)
The case of 2-DOF serial manipulator under consideration has 130
following mass properties,
80
Link1 30
Material Properties: steel (AISI 1045) -20
Poisson’s ratio: 0.27 at 25˚C 0 1 2 3 4 5 6 7 8

Coefficient of thermal expansion: 1.17×104W per ˚C

Young’s modulus: 199GPa
Time (sec)

Length L = 0.2 m
Density: 7.827×10 kg/m3

Mass m = 1.383 kg (a)Variation of θ with time

Link2 90

Theta-2 (degree)
Material Properties: steel (AISI 1045)
70
Poisson’s ratio: 0.27 at 25˚C

Coefficient of thermal expansion: 1.17×104W per ˚C

Young’s modulus: 199GPa 50
30

Length L = 0.15 m
Density: 7.827×10 kg/m3

Mass m = 0.82658 kg
10
-10
0 1 2 3 4 5 6 7 8
Inertia with respect to coordinate system attached at base Time (sec)
(tonne. m2)

1.234 n 10 0 0 (b) Variation of θ with time

m 0 2.0405 n 10 ,
0 o
0 0 1.2155 n 10
200
Velocoty-v1 (deg/sec)

Inertia tensor at centre of gravity with respect to coordinate

system (tonne. m2) 100

2.1817 n 10 ,
0 0
m 0 2.0030 n 10 ,
0 o
0

0 0 2.0405 n 10 ,
0 1 2 3 4 5 6 7 8
-100

the coordinates of the centroid of the rigid body xa , ya , za

As shown in above table, the inertia tensor for an object with

and ρ is mass density, is computed as,

-200
Time (sec)

IFF IFu IFv

(c) Variation of velocity v with time
I tIuF Iuu Iuv w
IvF Ivu Ivv
100
Velocity-v2 (deg/sec)

Each element represents scalar quantity expressing resistance

50
changes with respect to change of rotation of an object. Hence,
the value of inertia tensor components varies with respect to 0
time. The three diagonal elements are called principal moment
of inertia and six off diagonal elements are called cross 0 1 2 3 4 5 6 7 8
-50
product of inertia.
-100
Time (sec)

(d) Variation of velocity v with time

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300 3480.589

X_component of acc. P3
200 2480.589
Acceleration-a1
(deg/sec2)

100 1480.589

(mm/sec2)
0 480.5898
-100 0 1 2 3 4 5 6 7 8
-519.410
0 2 4 6 8 10
-200
-1519.41
-300
Time (sec) -2519.41

(e) Variation of acceleration a with time

Time (Sec)

(i) Variation of X_comp. of acc. of P3 with time

150
2727.662
100
Acceleration-a2

Y_component of acc. P3
1727.662
(deg/sec2)

50
727.6619

(mm/sec2)
0
-50 0 -272.338
1 2 3 4 5 6 7 8 0 2 4 6 8 10
-100 -1272.33

-150 -2272.33
Time (sec)
-3272.33

(f) Variation of acceleration a with time

Time (Sec)

Fig -7: Variation of q, q and qL of joint-1 and joint-2 with

(j) Variation of Y_comp. of acc. of P3 with time

respect to time Fig -8: Variation of velocity and acceleration of point P with
respect to time
1451.354
X_component of Vel.

951.3543 200000
of P3 (mm/sec)

Lagrangian
Torque (N-mm)

451.3543
100000 Newton_Eule
-48.6456
-548.645 0 2 4 6 8 10
0
-1048.64 0 2 4 6
Time (Sec)
-100000
Time (Sec)

(g) Variation of X_comp. of vel. of P3 with time 250000

200000
Torque (N mm)

1240.171 Lagrangia
150000
Y_component of Vel.

740.1715 100000 Newton_Eule

P3 (mm/sec)

50000
240.1715
0
-259.828 0 2 4 6 8 10 -50000 0 2 4 6
-759.828 Time (Sec)
Time (Sec)

Fig -9: Torque requirements at joint-1 and joint-2 with respect

(h) Variation of X_comp. of vel. of P3 with time to time
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6. WORKSPACE BOUNDARY: CONCLUSIONS

400
200
0 x
0 1 2 3 4 5 6 7 8 9 10
-200
-400
Fig -10: Variation of X and Y components of position P3 with
time using cosine input
Singularity normally occurs near workspace boundary when
both links are fully extended. By increasing the joint range of
joint-2, there should not be significant change in workspace
boundary but the internal singularities are reduced
significantly. There may be existance of unreachable point
within the workspace boundary or outside of it due to physical
constraints of mechanism. Singularity is a case of infinite
In this work, the mathematical formulation of complete
kinematics and dynamics of two degrees of freedom robotic
arm is presented. The simulation of kinematics and dynamics
is performed using Pro/Engineer software and results are
Time
compared with analytical results. The results are plotted for
the performance measurement using condition number and
y manipubality index. The value of condition number is not well
at time of actuation as well as at time of reaching the end of
joint limit. The work space boundary represents the limitation
of actuations and the space for a placement of work parts. In a
robot joint, it is known that friction can relate to temperature,
force/torque levels, position, velocity, acceleration, lubricant
properties. In this paper, models included nonlinearities and
frictions are neglected. It is observed that average variation in
the torques computed by Newton’s Euler at the both joint axis
around 3% at all possible position compared to Lagrangian
dynamics approach using MATLAB and Pro/engineer
software.
ACKNOWLEDGEMENTS
The authors would like to acknowledge support of

x10° to x90° for P x, y i.e. workspace boundary

acceleration in such cases. The value of A & C are varied from Sophisticated Instrumentation Centre for Applied Research
and Testing (SICART).
determination as plotted in figure 11.
REFERENCES
400 [1]. Fernando Reyes, Rafael Kelly , Experimental evaluation
300
of model-based controllers on a direct-drive robot arm,
Mechatronics, Vol. 11, P.P. 267-282, 2001
200 [2]. Jolly Shah, S.S.Rattan, B.C.Nakra, Kinematic Analysis of
y_P3 (mm)

100
2-DOF Planer Robot Using Artificial Neural Network, World
Academy of Science, Engineering and Technology, Vol. 81,
0 pp. 282-285, 2011
-400 -200 -100 0 200 400 [3]. Denavit, J. & Hartenberg, R. S., “A kinematic notation for
lower-pair mechanisms based on matrices”, Journal of
-200 Applied Mechanics, Vol., 1, pp. 215-221, 1955
x_P3 (mm)
[4]. Tarcisio A.H. Coelho, Liang Yong, Valter F.A. Alves ,
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balancing of 2-dof open-loop mechanisms”, Mechanism and
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400 [5]. B.K. Rout, R.K. Mittal, “Parametric design optimization
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approach”, Robotics and Computer-Integrated Manufacturing,

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[6]. Vigen Arakelian , Jean-Paul Le Baron, Pauline Mottu,
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Fig -11: Work space boundary for 2 DOF serial manipulator

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Volume: 02 Issue: 09 | Sep-2013, Available @ http://www.ijret.org 83
IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

[8]. M W Spong, On the robust control of robot manipulators.

IEEE Transactions on Automatic Control ,Vol. 37(11), P.P.
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BIOGRAPHIES
Y.D Patel is working as Associate
Professor in Mechanical Engineering
department of A D Patel Institute of
Technology, New Vallabh Vidyanagar
Gujarat.

Dr. P.M. George is working as Head of

Department of Mechanical Engineering
at Birla Vishvakarma Mahavidyalaya,
Vallabh Vidyanagar, Gujarat.

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