Lecture 12: Dynamics: Euler-Lagrange Equations

• Examples

c Anton Shiriaev. 5EL158: Lecture 12 – p. 1/17
Lecture 12: Dynamics: Euler-Lagrange Equations

• Examples

• Properties of Equations of Motion

c Anton Shiriaev. 5EL158: Lecture 12 – p. 1/17
Example: Two-Link Cartesian Manipulator

For this system we need

• to solve forward kinematics problem;
• to compute manipulator Jacobian;
• to compute kinetic and potential energies and the
Euler-Lagrange equations

c Anton Shiriaev. 5EL158: Lecture 12 – p. 2/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are π
T10 : θ = 0, d = q1 , a = 0, α=−
2
T21 : θ = 0, d = q2 , a = 0, α=0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are π
T10 : θ = 0, d = q1 , a = 0, α=−
2
T21 : θ = 0, d = q2 , a = 0, α=0

The kinetic energy of the system is

1
 2
 1
 2

K= 2
m1 vc1 + ω1 I1 ω1 +
T
2
m2 vc2 + ω2 I2 ω2
T

and " #
h i q̇1
(1) (2) (1) (2)
vc1 = Jv1 Jv1 = Jv1 q̇1 + Jv1 q̇2
q̇2
" #
h i q̇1
(1) (2) (1) (2)
vc2 = Jv2 Jv2 = Jv2 q̇1 + Jv2 q̇2
q̇2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are π
T10 : θ = 0, d = q1 , a = 0, α=−
2
T21 : θ = 0, d = q2 , a = 0, α=0

The kinetic energy of the system is

1
 2
 1
 2

K= 2
m1 vc1 + ω1 I1 ω1 +
T
2
m2 vc2 + ω2 I2 ω2
T

and " #
h i q̇1
ω1 = Jω(1) Jω(2) = Jω(1) q̇ 1 + J (2)
ω1 q̇2
1 1
q̇2 1

" #
h i q̇1
ω2 = Jω(1) Jω(2) = Jω(1) q̇ 1 + J (2)
ω2 q̇2
2 2
q̇2 2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are π
T10 : θ = 0, d = q1 , a = 0, α=−
2
T21 : θ = 0, d = q2 , a = 0, α=0

To compute the Jacobian we can use the DH-frames, i.e


0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

 0, for prismatic joint
(i)
Jω =
 z 0 , for revolute joint
i−1

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are π
T10 : θ = 0, d = q1 , a = 0, α=−
2
T21 : θ = 0, d = q2 , a = 0, α=0

To compute the Jacobian we can use the DH-frames, i.e


0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint
       
0 0 0 0
 0       0 0
    
⇒ Jv1 = ~ z0 , 0 =  0  ,  0  , Jv2 = ~ z1 =  0  ,  1 
z0 , ~
1 0 1 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 3/17
Forward Kinematics and Jacobian (Cont’d)
To sum up:
• Angular velocities ω1 and ω2 of both links are zeros

c Anton Shiriaev. 5EL158: Lecture 12 – p. 4/17
Forward Kinematics and Jacobian (Cont’d)
To sum up:
• Angular velocities ω1 and ω2 of both links are zeros
• Linear velocities of centers of mass are
   
h i
" # 0 0
(1) (2) q̇1    
vc1 = Jv1 , Jv1 =  0  q̇1 +  0  q̇2
q̇2
1 0
   
h
"
i q̇
# 0 0
(1) (2) 1    
vc2 = Jv2 , Jv2 =  0  q̇1 +  1  q̇2
q̇2
1 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 4/17
Forward Kinematics and Jacobian (Cont’d)
To sum up:
• Angular velocities ω1 and ω2 of both links are zeros
• Linear velocities of centers of mass are
   
h i
" 0 # 0
(1) (2) q̇1    
vc1 = Jv1 , Jv1 =  0  q̇1 +  0  q̇2
q̇2
1 0
   
h
"
i q̇
# 0 0
(1) (2) 1    
vc2 = Jv2 , Jv2 =  0  q̇1 +  1  q̇2
q̇2
1 0

• The kinetic energy is

" #T " #" #
1 2 1 2 1 q̇1 m1 + m2 0 q̇1
K= 2
m 1 v +
c1 2 m 2 vc2 = 2
q̇2 0 m2 q̇2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 4/17
Potential Energy (PE) for Two-Link Cartesian Manipulator

Observations
• PE is independent of the second link position;
• It depends on the height of center of mass of robot;

• P = g · (m1 + m2 ) · q1 + Const

c Anton Shiriaev. 5EL158: Lecture 12 – p. 5/17
Euler-Lagrange Equations for 2-Link Cartesian Manipulator

Given the kinetic K and potential P energies, the dynamics are

 
d ∂(K − P) ∂(K − P)
− =τ
dt ∂ q̇ ∂q

c Anton Shiriaev. 5EL158: Lecture 12 – p. 6/17
Euler-Lagrange Equations for 2-Link Cartesian Manipulator

Given the kinetic K and potential P energies, the dynamics are

 
d ∂(K − P) ∂(K − P)
− =τ
dt ∂ q̇ ∂q

With kinetic and potential energies

" #T " #" #
1 q̇1 m1 + m2 0 q̇1
K= 2 , P = g (m1 + m2 ) q1 +C
q̇2 0 m2 q̇2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 6/17
Euler-Lagrange Equations for 2-Link Cartesian Manipulator

Given the kinetic K and potential P energies, the dynamics are

 
d ∂(K − P) ∂(K − P)
− =τ
dt ∂ q̇ ∂q

With kinetic and potential energies

" #T " #" #
1 q̇1 m1 + m2 0 q̇1
K= 2 , P = g (m1 + m2 ) q1 +C
q̇2 0 m2 q̇2

the Euler-Lagrange equations are

(m1 + m2 )q̈1 + g(m1 + m2 ) = τ1

m2 q̈2 = τ2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 6/17
Example: Planar Elbow Manipulator

For this system we need

• to compute forward kinematics and manipulator Jacobian;
• to compute kinetic and potential energies and the
Euler-Lagrange equations

c Anton Shiriaev. 5EL158: Lecture 12 – p. 7/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are

c Anton Shiriaev. 5EL158: Lecture 12 – p. 8/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are T10 : θ = q1 , d = 0, a = l1 , α=0

T21 : θ = q2 , d = 0, a = l2 , α=0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 8/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are T10 : θ = q1 , d = 0, a = l1 , α=0

T21 : θ = q2 , d = 0, a = l2 , α=0

The kinetic energy of the system is

1
 2
 1
 2

K= 2
m1 vc1 + ω1 I1 ω1 +
T
2
m2 vc2 + ω2 I2 ω2
T

and " #
h i q̇1
(1) (2) (1) (2)
vc1 = Jv1 Jv1 = Jv1 q̇1 + Jv1 q̇2
q̇2
" #
h i q̇1
(1) (2) (1) (2)
vc2 = Jv2 Jv2 = Jv2 q̇1 + Jv2 q̇2
q̇2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 8/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are T10 : θ = q1 , d = 0, a = l1 , α=0

T21 : θ = q2 , d = 0, a = l2 , α=0

The kinetic energy of the system is

1
 2
 1
 2

K= 2
m1 vc1 + ω1 I1 ω1 +
T
2
m2 vc2 + ω2 I2 ω2
T

and " #
h i q̇1
ω1 = Jω(1) Jω(2) = Jω(1) q̇ 1 + J (2)
ω1 q̇2
1 1
q̇2 1

" #
h i q̇1
ω2 = Jω(1) Jω(2) = Jω(1) q̇ 1 + J (2)
ω2 q̇2
2 2
q̇2 2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 8/17
Forward Kinematics and Jacobian
DH parameters for computing homogeneous transformations

T (qi) = Rotz,θ · Transz,d · Transx,a · Rotx,α

are T10 : θ = q1 , d = 0, a = l1 , α=0

T21 : θ = q2 , d = 0, a = l2 , α=0

To compute the Jacobian we can use the DH-frames, i.e


0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

 0, for prismatic joint
(i)
Jω =
 z 0 , for revolute joint
i−1

c Anton Shiriaev. 5EL158: Lecture 12 – p. 8/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives    
0 lc1 cos q1
(1)    
Jv1 = ~
z0 × (~
oc1 o0 ) =  0  ×  lc1 sin q1 
−~
1 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives      
0 lc1 cos q1 −lc1 sin q1
(1)      
Jv1 = ~
z0 × (~
oc1 o0 ) =  0  ×  lc1 sin q1  =  lc1 cos q1 
−~
1 0 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives      
0 lc1 cos q1 −lc1 sin q1
(1)      
Jv1 = ~
z0 × (~
oc1 o0 ) =  0  ×  lc1 sin q1  =  lc1 cos q1 
−~
1 0 0
(1)
Jv2 = ~
z0 × (~ o0 )
oc2 − ~
     
0 l1 cos q1 lc2 cos(q1 + q2 )
     
=  0  ×  l1 sin q1  +  lc2 sin(q1 + q2 ) 
1 0 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives      
0 lc1 cos q1 −lc1 sin q1
(1)      
Jv1 = ~
z0 × (~ o0 ) =  0  ×  lc1 sin q1  =  lc1 cos q1 
oc1 − ~
1 0 0
 
−l1 sin q1 − lc2 sin(q1 + q2 )
(1)  
Jv2 = ~
z0 × (~ o0 ) =  l1 cos q1 + lc2 cos(q1 + q2 ) 
oc2 − ~
0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives      
0 lc1 cos q1 −lc1 sin q1
(1)      
Jv1 = ~
z0 × (~ o0 ) =  0  ×  lc1 sin q1  =  lc1 cos q1 
oc1 − ~
1 0 0
 
−l1 sin q1 − lc2 sin(q1 + q2 )
(1)  
Jv2 = ~
z0 × (~ o0 ) =  l1 cos q1 + lc2 cos(q1 + q2 ) 
oc2 − ~
0
   
0 lc2 cos(q1 + q2 )
(2)    
Jv2 = ~
z1 × (~ o1 ) =  0  ×  lc2 sin(q1 + q2 ) 
oc2 − ~
1 0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
0 ,
 zi−1 for prismatic joint
Jv(i) = h i
 z 0 × o0 − o0
i−1 c i−1 , for revolute joint

gives      
0 lc1 cos q1 −lc1 sin q1
(1)      
Jv1 = ~
z0 × (~ o0 ) =  0  ×  lc1 sin q1  =  lc1 cos q1 
oc1 − ~
1 0 0
 
−l1 sin q1 − lc2 sin(q1 + q2 )
(1)  
Jv2 = ~
z0 × (~ o0 ) =  l1 cos q1 + lc2 cos(q1 + q2 ) 
oc2 − ~
0
 
−lc2 sin(q1 + q2 )
(2)  
Jv2 = ~
z1 × (~ o1 ) =  lc2 cos(q1 + q2 ) 
oc2 − ~
0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 9/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
 0, for prismatic joint
Jω(i) =
 z 0 , for revolute joint
i−1

gives  
0
Jω(1)
 
1
= ~
z0 =  0 
1

c Anton Shiriaev. 5EL158: Lecture 12 – p. 10/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
 0, for prismatic joint
Jω(i) =
 z 0 , for revolute joint
i−1

gives  
0
Jω(1)
 
1
= ~
z0 =  0 
1
 
0
Jω(1)
 
2
= ~
z0 =  0 
1

c Anton Shiriaev. 5EL158: Lecture 12 – p. 10/17
Forward Kinematics and Jacobian (Cont’d)
The formula 
 0, for prismatic joint
Jω(i) =
 z 0 , for revolute joint
i−1

gives  
0
Jω(1)
 
1
= ~
z0 =  0 
1
 
0
Jω(1)
 
2
= ~
z0 =  0 
1
 
0
Jω(2)
 
2
= ~
z1 =  0 
1

c Anton Shiriaev. 5EL158: Lecture 12 – p. 10/17
Forward Kinematics and Jacobian (Cont’d)
To sum up, the kinetic energy K is
1
 2
 1
 2

K = 2
m1 vc1 + ω1 I1 ω1 + 2 m2 vc2 + ω2 I2 ω2
T T

  2  2 
1
= 2
m1 Jv(1)
1
q̇ 1 + I 1 J (1)
ω1 q̇1 +
  2  2 
+ 12 m2 Jv(1) 2
q̇ 1 + J (2)
v2 q̇ 2 + I 2 J (1)
ω2 q̇ 1 + J (2)
ω2 q̇2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 11/17
Forward Kinematics and Jacobian (Cont’d)
To sum up, the kinetic energy K is
1
 2
 1
 2

K = 2
m1 vc1 + ω1 I1 ω1 + 2 m2 vc2 + ω2 I2 ω2
T T

  2  2 
1
= 2
m1 Jv(1)
1
q̇ 1 + I 1 J (1)
ω1 q̇1 +
  2  2 
+ 12 m2 Jv(1) 2
q̇ 1 + J (2)
v2 q̇ 2 + I 2 J (1)
ω2 q̇ 1 + J (2)
ω2 q̇2
 T   
q̇1 d11 d12 q̇1
1
= 2
    
q̇2 d12 d22 q̇2
with


d11 = m1 lc21 + m2 l12 + lc22 + 2l1 lc2 cos q2 + I1 + I2
2


d12 = m2 lc2 + l1 lc2 cos q2 + I2
d22 = m2 lc22 + I2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 11/17
Potential Energy (PE) for Two-Link Elbow Manipulator

• PE of the 1st link is P1 = m1 gyc1 = m1 glc1 sin q1

• PE of the 2nd link is

P2 = m1 gyc2 = m2 g (l1 sin q1 + lc2 sin(q1 + q2 ))
• Total PE is P1 + P2

c Anton Shiriaev. 5EL158: Lecture 12 – p. 12/17
Lecture 12: Dynamics: Euler-Lagrange Equations

• Examples

• Properties of Equations of Motion

c Anton Shiriaev. 5EL158: Lecture 12 – p. 13/17
Passivity Relation
Given a mechanical system
 
d ∂L ∂L
− =τ ⇔ D(q)q̈ + C(q, q̇)q̇ + g(q) = τ
dt ∂ q̇ ∂q

with
L = 12 q̇ T D(q)q̇ − P (q)

c Anton Shiriaev. 5EL158: Lecture 12 – p. 14/17
Passivity Relation
Given a mechanical system
 
d ∂L ∂L
− =τ ⇔ D(q)q̈ + C(q, q̇)q̇ + g(q) = τ
dt ∂ q̇ ∂q

with
L = 12 q̇ T D(q)q̇ − P (q)

Its energy is given by

H = 12 q̇ T D(q)q̇ + P (q)

c Anton Shiriaev. 5EL158: Lecture 12 – p. 14/17
Passivity Relation
Given a mechanical system
 
d ∂L ∂L
− =τ ⇔ D(q)q̈ + C(q, q̇)q̇ + g(q) = τ
dt ∂ q̇ ∂q

with
L = 12 q̇ T D(q)q̇ − P (q)

Its energy is given by

H = 12 q̇ T D(q)q̇ + P (q)

d
What will happen with dt
H?

c Anton Shiriaev. 5EL158: Lecture 12 – p. 14/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ [τ − C(q, q̇)q̇ − g(q)] +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

Here we use the Euler-Lagrange equations

D(q)q̈ + C(q, q̇)q̇ + g(q) = τ

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ [τ − C(q, q̇)q̇ − g(q)] +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q
 

1 d
 ∂P
= q̇ T τ + q̇ T 2 dt
[D(q)] − C(q, q̇) q̇ + q̇ T − g(q)
∂q

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ [τ − C(q, q̇)q̇ − g(q)] +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q
 

1 d
 ∂P
= q̇ T τ + q̇ T 2 dt
[D(q)] − C(q, q̇) q̇ + q̇ T − g(q)
∂q
| {z }
=0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ [τ − C(q, q̇)q̇ − g(q)] +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q
 
1 d
= q̇ T τ + q̇ T 2 dt
[D(q)] − C(q, q̇) q̇
| {z }
=0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
Differentiating H along a solution of the system, we have
d d
1 
dt
H = dt 2
q̇ D(q)q̇ + P (q)
T

1 T 1 T 1 T d ∂P
= 2
q̈ D(q)q̇ + 2
q̇ D(q)q̈ + 2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ D(q)q̈ +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q

1 T d ∂P
= q̇ [τ − C(q, q̇)q̇ − g(q)] +
T
2
q̇ dt [D(q)] q̇ + q̇ T

∂q
 
1 d
= q̇ T τ + q̇ T 2 dt
[D(q)] − C(q, q̇) q̇
| {z }
=0
= q̇ T τ

c Anton Shiriaev. 5EL158: Lecture 12 – p. 15/17
Passivity Relation (Cont’d)
The differential relation
d
dt
H = q̇ T τ

can be integrated, so that

Z T
d
dt
H(q(t), q̇(t))dt = H(q(T ), q̇(T )) − H(q(0), q̇(0))
0
Z T
= q̇(t)T τ (t)dt
0

c Anton Shiriaev. 5EL158: Lecture 12 – p. 16/17
Passivity Relation (Cont’d)
The differential relation
d
dt
H = q̇ T τ

can be integrated, so that

Z T
d
dt
H(q(t), q̇(t))dt = H(q(T ), q̇(T )) − H(q(0), q̇(0))
0
Z T
= q̇(t)T τ (t)dt
0

RT
⇒ 0 q̇(t)τ (t)dt ≥ −H(q(0), q̇(0))

c Anton Shiriaev. 5EL158: Lecture 12 – p. 16/17
Passivity Relation (Cont’d)
The differential relation
d
dt
H = q̇ T τ

can be integrated, so that

Z T
d
dt
H(q(t), q̇(t))dt = H(q(T ), q̇(T )) − H(q(0), q̇(0))
0
Z T
= q̇(t)T τ (t)dt
0

RT
⇒ 0 q̇(t)τ (t)dt ≥ −H(q(0), q̇(0))

These relations are called

• passivity (dissipativity) relation
• passivity (dissipativity) relation in the integral form

c Anton Shiriaev. 5EL158: Lecture 12 – p. 16/17
Skew Symmetry of Ḋ(q) − C(q, q̇)
To check that
d
N = dt
[D(q)] − 2C(q, q̇), N T = −N

look at (k, j)th-component

n n  
d
X ∂dkj X ∂dkj ∂dki ∂dij
d
dt kj
− 2ckj = q̇i − + − q̇i
i=1
∂qi i=1
∂qi ∂qj ∂qk

c Anton Shiriaev. 5EL158: Lecture 12 – p. 17/17
Skew Symmetry of Ḋ(q) − C(q, q̇)
To check that
d
N = dt
[D(q)] − 2C(q, q̇), N T = −N

look at (k, j)th-component

n n  
d
X ∂dkj X ∂dkj ∂dki ∂dij
d
dt kj
− 2ckj = q̇i − + − q̇i
i=1
∂qi i=1
∂qi ∂qj ∂qk
n   
X ∂dkj ∂dkj ∂dki ∂dij
= − + − q̇i
i=1
∂qi ∂qi ∂qj ∂qk

c Anton Shiriaev. 5EL158: Lecture 12 – p. 17/17
Skew Symmetry of Ḋ(q) − C(q, q̇)
To check that
d
N = dt
[D(q)] − 2C(q, q̇), N T = −N

look at (k, j)th-component

n n  
d
X ∂dkj X ∂dkj ∂dki ∂dij
d
dt kj
− 2ckj = q̇i − + − q̇i
i=1
∂qi i=1
∂qi ∂qj ∂qk
n   
X ∂dkj ∂dkj ∂dki ∂dij
= − + − q̇i
i=1
∂qi ∂qi ∂qj ∂qk
n  
X ∂dij ∂dki
= − q̇i
i=1
∂qk ∂qj

c Anton Shiriaev. 5EL158: Lecture 12 – p. 17/17
Skew Symmetry of Ḋ(q) − C(q, q̇)
To check that
d
N = dt
[D(q)] − 2C(q, q̇), N T = −N

look at (k, j)th-component

n n  
d
X ∂dkj X ∂dkj ∂dki ∂dij
d
dt kj
− 2ckj = q̇i − + − q̇i
i=1
∂qi i=1
∂qi ∂qk ∂qj
n   
X∂dkj ∂dkj ∂dki ∂dij
= − + − q̇i
i=1
∂qi ∂qi ∂qj ∂qk
n   n  
X ∂dij ∂dki X ∂dji ∂dki
= − q̇i = − q̇i
i=1
∂qk ∂qj i=1
∂qk ∂qj

c Anton Shiriaev. 5EL158: Lecture 12 – p. 17/17
Skew Symmetry of Ḋ(q) − C(q, q̇)
To check that
d
N = dt
[D(q)] − 2C(q, q̇), N T = −N

look at (k, j)th-component

n n  
d
X ∂dkj X ∂dkj ∂dki ∂dij
d
dt kj
− 2ckj = q̇i − + − q̇i
i=1
∂qi i=1
∂qi ∂qk ∂qj
n   
X∂dkj ∂dkj ∂dki ∂dij
= − + − q̇i
i=1
∂qi ∂qi ∂qj ∂qk
n   n  
X ∂dij ∂dki X ∂dji ∂dki
= − q̇i = − q̇i
i=1
∂qk ∂qj i=1
∂qk ∂qj

⇒ nkj = −njk

c Anton Shiriaev. 5EL158: Lecture 12 – p. 17/17