Robotic systems - Statics

Paolo Di Lillo

Università di Cassino e Lazio Meridionale

pa.dilillo@unicas.it
http://webuser.unicas.it/lai/robotica
academic year 2020/2021

Paolo Di Lillo Rob. syst.-Statics 1 / 18

Statics I

Statics
e.e. forces/moments vs joint torques

Paolo Di Lillo Rob. syst.-Statics 2 / 18

Statics I
Assuming the robot in equilibrium, relation among
T
e.e. forces/moments (forces, wrench) γ e = f T µT ∈ R6

e e
and forces/torques (torques) τ ∈ Rn at joints

Paolo Di Lillo Rob. syst.-Statics 3 / 18

Statics II
elementary work made by the torques

dWτ = τ T dq

elementary work made by the forces

dWγ = fT T
e dp + µe ω e dt  
T J P (q)
fT µT

= e J P (q)dq + e J O (q)dq = fe µe dq
J O (q)
= γT
e J (q)dq (geometric J.)

δWτ = τ T δq
δWγ = γTe J (q)δq

Paolo Di Lillo Rob. syst.-Statics 4 / 18

Statics III
Virtual works principle
the robot is in static equilibrium if and only if

δWτ = δWγ ∀δq

τ = J T (q)γ e

Alt.: from physics we know:

velocity · force = power
for the e.e: v T
e γe
for the joints motors: q̇ T τ
if the power is not used to move the robot:
T
vTe γ e = q̇ τ ⇒ τ = J T (q)γ e

Paolo Di Lillo Rob. syst.-Statics 5 / 18

Statics IV
Kinetostatic duality
v e = J q̇ vs τ = J T γ e

N (J ) ≡ R⊥ (J T ) R(J ) ≡ N ⊥ (J T )
forces γ e ∈ N (J T ) totally absorbed by the structure

Paolo Di Lillo Rob. syst.-Statics 6 / 18

Statics V

Paolo Di Lillo Rob. syst.-Statics 7 / 18

Statics VI

Physical interpretation of the transpose-based Jacobian inversion:

q̇ = J T (q)Ke

ideal dynamics τ = q̇
elastic force Ke which pulls the e.e. toward the desired
configuration in the operational space
/ N (J T )
it works only if Ke ∈

Paolo Di Lillo Rob. syst.-Statics 8 / 18

Statics VII

Paolo Di Lillo Rob. syst.-Statics 9 / 18

Statics VIII
Manipulability ellipsoids
Given the vector x ∈ Rn :
xT x = 1 is a sphere in Rn with unitary radius
xT W −1 x = 1 is an ellipsoid in Rn with
T
eigenvectors of W Wq as principal axes directions
eigenvalues of σi = λi (W W T ) as principal axes dimension
q
volume proportional to det W W T

Paolo Di Lillo Rob. syst.-Statics 10 / 18

Statics IX
Velocity manipulability ellipsoids
given the joint velocities with constant norm q̇ T q̇ = 1
for a redundant robot it holds

q̇ = J † (q)v e

⇓

−1
vT T
e J(q)J (q) ve = 1

Axes
eigenvectors ui of J J T =⇒ directions
q
eigenvalues σi = λi (J J T ) =⇒ dimensions
Volume
proportional to q
w(q) = det J(q)J T (q)

Paolo Di Lillo Rob. syst.-Statics 11 / 18

Statics X
Example: 2-link planar robot
Manipulability measure

w = | det(J )| = a1 a2 |s2 |

that can be maximized for

θ2 = ±π/2

by assuming the length a1 + a2 it is maximized for

a1 = a2

Paolo Di Lillo Rob. syst.-Statics 12 / 18

Statics XI

Velocity manipulability ellipses

0.5
[m]

−0.5

−1

0 0.5 1 1.5 2
[m]

Paolo Di Lillo Rob. syst.-Statics 13 / 18

Statics XII

Eigenvalues

2.5
max
2

1.5
[m]

1
min
0.5

0
0 0.5 1 1.5 2
[m]

Paolo Di Lillo Rob. syst.-Statics 14 / 18

Statics XIII
Force manipulability ellipsoids
given the joint torques with constant norm

τ Tτ = 1

γT T


e J(q)J (q) γ e = 1

Kinetostatic duality
a direction characterized by a large velocity manipulability exhibits a
poor force manipulability and vice versa

Paolo Di Lillo Rob. syst.-Statics 15 / 18

Statics XIV
2-link planar robot
Velocity manipulability ellipses Force manipulability ellipses

1 1

0.5 0.5
[m]

[m]
0 0

−0.5 −0.5

−1 −1

0 0.5 1 1.5 2 0 0.5 1 1.5 2

[m] [m]

Paolo Di Lillo Rob. syst.-Statics 16 / 18

Statics XV
Robot ≡ mechanical transformer of velocities and forces from the joint
space to the operational space
transformation ratio along a direction for the force ellipsoid
 −1/2
T T
α(q) = u J(q)J (q)u

transformation ratio along a direction for the velocity ellipsoid

−1 −1/2
 
T T
β(q) = u J(q)J (q) u

use of redundant degrees of freedom

Compatibility of the structure in achieving a given task in the assigned
direction

Paolo Di Lillo Rob. syst.-Statics 17 / 18

Statics XVI
writing on an horizontal plane

vel

piano di scrittura
forza

Paolo Di Lillo Rob. syst.-Statics 18 / 18

Statics XVII

weight throw in the horizontal direction

forza

vel

direzione di lancio

Paolo Di Lillo Rob. syst.-Statics 19 / 18