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DYNAMIC MODELING OF 3-DOF RRP TYPE SERIAL ROBOTIC MANIPULATOR

USING LAGRANGE-EULER METHOD

Conference Paper · December 2019

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 International Marmara Sciences Congress (Autumn) 2019
Proceedings Book (Natural and Applied Sciences)
Proceedings Book (Natural and Applied Sciences)

DYNAMIC MODELING OF 3-DOF RRP TYPE SERIAL ROBOTIC MANIPULATOR

USING LAGRANGE-EULER METHOD

Tuğçe Yaren
Kocaeli University / Faculty of Engineering, Department of Mechatronics Engineering
tugce.yaren@kocaeli.edu.tr

Serdar Küçük
Kocaeli University / Faculty of Technology, Department of Biomedical Engineering
skucuk@kocaeli.edu.tr

Abstract
Lagrange- Euler and Newton-Euler methods are two well-known methods for deriving dynamic analysis of robotic
manipulators. In this paper, Lagrange- Euler and Newton-Euler methods are used for deriving dynamic modeling
of 3-DOF (Degrees Of Freedom) RRP type serial robot manipulator. All of the computations related to Lagrange-
Euler method is performed on Mathematica software while the same dynamics equations derived by Newton-
Euler method are taken from the book named as “Robot dinamiği ve kontrolü” (Bingül and Küçük, 2008). The
dynamic equations derived by both methods are compared with each other. This study showed that the Lagrange-
Euler method yields simple and well-structured dynamic equations of 3-DOF RRP type serial robot manipulator
compare to the Newton-Euler method. It is also verified that the implementation of the Lagrange-Euler method to
the dynamics equations of serial robotic manipulators requires easy, systematic and steady forward processes.

Keywords: Dynamic modeling, Lagrange-Euler, Mathematica, Newton-Euler, RRP type robot.

1. INTRODUCTION
A robot is a reprogrammable, multifunctional manipulator designed for moving material, parts, tools, or
specialized devices. Robots are programmed through variable motions for the performance of a variety of tasks.
Robotic manipulators can be found in many industries such as automotive, electronics, chemical and, food
industries (Krishnamoorthi, 2018 and Høifødt, 2011).
Kinematic and dynamic modeling are very important issues for design, simulation, and control of robotic
manipulators. Kinematics describes the motion of the robotic manipulator without considering forces and torques
causing this motion. Kinematic modeling is used in many fields of robotics such as robot simulation; modeling of
mechanisms, actuators, and sensors; on-line and off-line robot control applications. Therefore, derivation of a
kinematic model of robotic manipulators is one of the most important phases of robot issues (Küçük and Bingül,
2004).
Dynamic modeling of robotic manipulators is a cumbersome issue. It provide a relationship between forces acting
on robotic manipulators and acceleration that the robotic manipulators generates. Dynamic equations are important
for simulation of robot motions, and design of control algorithms. Lagrange-Euler and Newton-Euler formulation
are well-known approaches for dynamic analysis of robot manipulators (Dasgupta and Choudhury, 1999). In the
standard Lagrange-Euler formulation, the robotic system is analyzed based on its kinetic and potential energy.
The Newton-Euler formulation is different from Lagrange-Euler formulation since each link of the manipulator is
considered separately while deriving dynamic equations. There is not a strict answer which method is better than
the other. The main goal is to obtain the dynamic model of the robotic manipulator as fast as possible (Høifødt,
2011). In the Newton Euler method, two types of forces (given and the constraint forces) applied to the robotic
system are considered. The main drawback of Newtonian approach is that these forces are not easily computable
in general (Dhaouadi and Hatab, 2013).
Lagrange-Euler method gets over these problems. In Lagrange-Euler method, forces are expressed in terms of
kinetic and potential energy which are scalar quantities and they can easily be described in terms of system
coordinates (Dhaouadi and Hatab, 2013 and Fateh, 2009).

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Proceedings Book (Natural and Applied Sciences)
Proceedings Book (Natural and Applied Sciences)

Lagrange- Euler and Newton-Euler formulation are two well-kown methods for dynamic analysis of robot
manipulators. In this paper, Lagrange-Euler formulation is selected for performing dynamic modeling of 3-DOF
(Degrees Of Freedom) RRP type serial robot manipulator. All of the computations releted to the dynamic
equations are performed on Mathematica software. Using Lagrange-Euler method yields simple and well-
structured dynamic equations of 3-DOF RRP type serial robot manipulator. It is verified that implimentation of
Lagrange-Euler method to the dynamics equations of serial robotic manipulator requires easy, systematic and
steady forward processes.

The main purpose of this paper is to derive simple and well-structured dynamic equations for robotic manipulators.
For this purpose, dynamic equations of 3-DOF RRP type serial robot manipulator are obtained by using Lagrange-
Euler method. Afterward these equations are compared with the dynamic equations (Bingül and Küçük, 2008)
obtained by Newton-Euler method for the same manipulator. The dynamics equations obtained via Lagrange-
Euler method are derived by using Mathematica software which is a modern technical computing program used
in several engineering fields like in neural networks, machine learning, image processing, and others (Wolfram,
2019). This paper illustrates that Lagrange-Euler is simple, systematical and easy method to implement dynamic
equations of serial robotic manipulators.
The paper is organized as follows. The Denavit-Hartenberg (D-H) parameters for RRP type robot and the forward
kinematic analyze are given in Section 2. The dynamic model of robot is derived by using the Lagrange method
in Section 3. Finally, the paper concludes in Section 4.
2. KINEMATICS
In this section, forward kinematic matrices of 3-DOF RRP type serial robot manipulator illustrated in Figure
1 are obtained by using Denavit-Hartenberg (DH) method (Denavit and Hartenberg, 1955) which is chosen by
several authors (Khalil and Dombre, 2002, Cvetkovic and Milovanovi, 2014) due to its simplicity. Transformation
matrices of 3-DOF serial robot manipulator is obtained based on the DH parameters shown in Table 1.

Figure 1. The RRP Type Robot and Co-ordinate Frames

Table 1. DH parameters for RRP type 3-DOF serial robot manipulator

Link ai-1 αi-1 di 𝛉i
1 0 0 h1 θ1
2 90 0 d2 θ2
3 -90 0 d3 0

The corresponding T matrices are determined as

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Proceedings Book (Natural and Applied Sciences)
Proceedings Book (Natural and Applied Sciences)

c1  s 1 0 0 c 2  s 2 0 0  1 0 0 0
 0 0 0 1 d 3 
 s
 1 c1 0 0   0  1  d 2  
1T  2T  3T 
0 1 2

 0 0 1 h1   s 2 c 2 0 0  0  1 0 0 (1)
     
 0 0 0 1  0 0 0 1  0 0 0 1

3. DYNAMIC MODELING
In this section, dynamics equations of 3-DOF serial robot manipulator are deribed by using two well-known
method namely Lagrange-Euler and Newton-Euler. Links of the manipulator are assumed to be rigid.

3.1 Newton – Euler Formulation

Newton-Euler formulation is derived from the direct interpretation of Newton's second law. Dynamics equations
of 3-DOF serial robot manipulator by Newton-Euler method presented here is taken from the existing book of
“Robot dinamiği ve kontrolü” (Bingül and Küçük, 2008). Torque equations of 3-DOF serial robot manipulator
(Bingül and Küçük, 2008) are given in Eqs. (2) - (3) - (4).

 1 1  1
 1   I ZZ  m2 d 22  s 2 2 ( I XX  I XX  m3 ( l32  l3d3  d32 ))  c 2 2 ( IYY  I ZZ )  m3d 22 1  d 2 m3c 2 ( l3  d3 )2
 1
4 2 3
4 2 3
 2
 1 2  1 (2)
 d 2 m3 s 2 d3  2s 2c 2  I XX 2  I XX 3  IYY2  I ZZ 3  m3 ( l3  l3d3  d32 )21  d 2 m3 s 2 ( l3  d3 )22  2d 2 m3c 22 d3
 4  2
 m s 2 (l  2d )d 
3 2 3 3 3 1

1  1   1 
 2  d 2 m3c 2 ( l3  d3 )   I ZZ1  IYY3  m3 ( l32  l3d3  d32 )2  s 2c 2  I XX 2  I XX 3  IYY2  I ZZ 3  m3 ( l32  l3d3  d32 )12
2  4   4 
 m3  l3  2d3 2 d3  gm3 s 2 ( l3  d3 )  m3 s 2 2 (l3  2d3 )d31
1 (3)
2
1 1 (4)
 3  d 2 m3 s 21  m3d3  m3 s 2 2 ( l3  d3 )12  m3 ( l3  d3 )22  gm3c 2
2 2

3.2 Lagrange – Euler Formulation

Lagrange approach is used to systematically derive the equations of motion by considering the kinetic and
potential energies of the given system (Dhaouadi and Hatab, 2013). The Lagrange-Euler formulation can be
written in the following form:

d L L
  Qi (i  1,2,..., n) (5)
dt qi qi

where L=K-P is the Lagrangian function, K and P are the kinetic and potential energies of the system, respectively.
The terms qi and Qi are the generalized coordinates and forces, respectively. The letter n denotes degrees of
freedom. For the RRP type robot, the generalized coordinates are selected as

q  1  2 d 3  T (6)
The kinetic energy of the robot is given as a function of joint velocities and mass matrix D(q):

1 T (7)
K (q, q )  q D(q)q
2
D(q) is a symmetric positive matrix that can be calculated as

 
n
D(q)   ( Ai )T mi Ai  ( Bi )T I i Bi (8)
i 1 374
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Proceedings Book (Natural and Applied Sciences)
Proceedings Book (Natural and Applied Sciences)
where A is the Jacobian matrix for linear velocities, B is the Jacobian matrix for angular velocities, m is the mass
of the links, I is link inertia tensor. The mass matrix of the RRP type robot is (Bingül and Küçük, 2008) given by
Eq. (9) as
 1 
 D11 d 2 m3c 2 ( l3  d 3 )  d 2 m3 s 2 
2
 1 
D(q)  d 2 m3c 2 ( l3  d 3 ) D22 0 
 2 
  d 2 m3 s 2 0 m3 
  (9)
D11  I zz1  14 m2 d 22  s2 2 I xx 2  I xx 3  m3  14 l 23  l 3 d 3  d 23   c 2 2 I yy2  I zz3   m3 d 22
D22  m3  14 l 23  l 3 d 3  d 23   I zz2  I yy3
Now, the kinetic energy of the robot can be calculated by using Eqs. (6) - (7) - (9). The potential energy of the
robot is given as

n
P(q)   mi g T hi (10)
i 1

where g is the gravitational acceleration, hi is the position of the center of mass of the link i relative to the main
coordinate system. In order to calculate the potential energy of the robot, h parameters should be determined for
each link by using the following equation.

hi  0iThi (11)

where ∆hi is the position of the center of mass of the link i according to the coordinate system placed in the joint
i and for RRP type robot, ∆hi parameters are given as

 0   0   0 
 0   0   0 
h1   h1  h2   d 2  h3   l3  (12)
     
 2  2  2
 1   1   1 

After having the parameters ℎ, the potential energy of the robot can be calculated by using Eq. (10). After finding
the kinetic and potential energies, the Lagrangian function is given by (L=K-P) expression. Eq. (5) is to provide
the dynamic equations of the robot:
d L L
  1
dt 1 1
d L L
 2
dt  2
  2 (13)
d L L
   3
dt d 3 d 3

4. IMPLEMENTATION OF THE LAGRANGE-EULER FORMULATION IN A SOFTWARE

PACKAGE
The results in this section have been obtained by employing the Wolfram MathematicaTM package. Mathematica
package is very suitable for the implementation of the algorithms. Mathematica package is good at especially
symbolical computing and working with numbers of theoretically infinite precision (Cvetkovic and Milovanovi,
2014)

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Proceedings Book (Natural and Applied Sciences)
Mathematica provides sample notebooks to its users for practical application. One of these notebooks is
Lagrangian Equations. This notebook illustrates one way of using Mathematica to analyze some advanced
theoretical mechanics problems using Lagrangian Mechanics (Wolfram Library Archive, 2019). In this notebook,
the function LagrangianEquations[T, V, Q, Coords] takes four arguments: the kinetic energy of the system, T,
the potential energy of the system, V, a list of non-conservative forces of the system, Q, and a list of the
generalized coordinates of the system, Coords. The function returns a list of the Lagrangian equations for the
particular system.

Figure 2. Sample MathematicaTM Code for Lagrange Formulation

LagrangianEquations[T, V, Q, Coords] function can be provided to dynamic modeling of RRP robot. A sample
code that produces the dynamic equations for the RRP type robot with this MathematicaTM function is shown in
Figure 2 and the remaining code is given in the appendix.

Figure 3. First Torque Equation - MathematicaTM

Figure 4. Second Torque Equation - MathematicaTM

After implementation of the code, the same the dynamic model given by Eqs. (4) - (5) - (6) is obtained. Figure 3-
4-5 illustrate entire operations of deriving dynamic equations using Lagrange formulation on the Mathematica
environment.

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Proceedings Book (Natural and Applied Sciences)

Figure 5. Third Torque Equation - MathematicaTM

5. CONCLUSION
In this paper, the dynamics equations of 3-DOF RRP type serial robot manipulator are derived by using two well-
know methods, namely Lagrange- Euler and Newton-Euler. Dynamics equations derived by Lagrange- Euler
method are performed on Mathematica software while the same dynamics equations derived by Newton-Euler
method are taken from the Turkish published book named as “Robot dinamiği ve kontrolü” (Bingül and Küçük,
2008). The dynamic equations derived by Lagrange- Euler and Newton-Euler methods are compared with each
other in terms of compactness, effectiveness and easiness. Study in this paper showed that Lagrange- Euler method
using Mathematica software provides compact, effective and well-structured dynamic equations for the robots. In
addition, the Lagrange- Euler is a relatively simple and systematic method compared to Newton-Euler method.
APPENDIX

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Proceedings Book (Natural and Applied Sciences)

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Universitatis, Series: Mathematics and Informatics 19, 17-36.
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formulation of parallel manipulators. Mechanism and Machine Theory 34, 801-824.
Denavit J, Hartenberg RS 1955. A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME
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Dhaouadi R, Hatab AA 2013. Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and
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Fateh MM 2009. Dynamic Modeling of Robot Manipulators in D-H Frames. World Applied Sciences Journal 6
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