ME G511

Mechanisms and Robotics

BITS Pilani Ashwin K P
Department of Mechanical Engineering
Goa Campus
 BITS Pilani
Goa Campus

Module 4
Lecture 2: Dynamics of Serial Robots
Dynamics Modelling

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Dynamics Modelling

- Mathematical model of the robot with dynamic forces

- Necessary to:
- Compute torque and forces required for generate specific motion
- Design of links, joints, drives and actuators
- Develop control system for better performance
- Motion planning and simulation
- Equations of motion of the system is derived
- Methods to develop equations of motion:
- Lagrangian mechanics (energy-based)
- Newtonian mechanics (force-based)

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Dynamics Modelling

- Difference between Newtonian and Lagrangian methods:

- Eg: A body of mass m is applied a constant force F.
- In Newtonian framework, the equation of motion is derived using force-
balance
- Inertial force on the body is balanced by the applied force F
𝑚𝑥ሷ = 𝐹
𝐹
- Integrating once, we get 𝑥ሶ 𝑡 = 𝑚 𝑡 + 𝐶1
𝐹𝑡 2
- Twice, we get 𝑥 𝑡 = + 𝐶1 𝑡 + 𝐶2
2𝑚
- By substituting appropriate initial conditions, we can solve for 𝐶1 and 𝐶2

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Dynamics Modelling

- Difference between Newtonian and Lagrangian methods:

- In Lagrangian framework, the equation of motion is derived based on
‘stationary action principle’
- Lagrangian, ℒ is the difference between total kinetic energy 𝒦 and total
potential energy 𝒫
ℒ =𝒦−𝒫
- Equations of equilibrium can be derived as:
𝑑 𝜕ℒ 𝜕ℒ
− = 𝐹𝑖 for 𝑖 = 1,2, …, 𝑛
𝑑𝑡 𝜕 𝑞ሶ 𝑖 𝜕𝑞𝑖
where 𝑞𝑖 are the generalized coordinates.
- For the same example,
1 1
we have 𝒦 = 2 𝑚𝑥ሶ 2 , 𝒫 = 0 . So ℒ = 2 𝑚𝑥ሶ 2, 𝑞 is 𝑥 here.
- Using the above formula,
𝑑 𝜕ℒ 𝜕ℒ 𝑑
− = 𝑚𝑥ሶ − 0 = 𝑚𝑥ሷ = 𝐹
𝑑𝑡 𝜕𝑥ሶ 𝜕𝑥 𝑑𝑡
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Lagrangian Formulation for Serial Robot

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots – general formulation:
0
Kinetic energy of link 𝑖 with mass 𝑚𝑖 and inertia 𝐼 𝑖 is:
1 0 0 1 0 0 0
𝐾𝐸𝑖 = 𝑚𝑖 𝑽𝐶𝑖 ⋅ 𝑽𝐶𝑖 + 𝝎𝑖 ⋅ 𝐶𝑖 𝐼 𝑖 𝝎𝑖
2 2
where
0
- 𝑽𝐶𝑖 is the linear velocity of the center of mass of
the link 𝑖 described in frame {0}
0
- 𝝎𝑖 is the angular velocity of the link 𝑖, described in frame {0}.
- 𝑚𝑖 is the mass of link 𝑖 located at 𝒑𝐶𝑖 with respect to 𝑂𝑖
- Moment of inertia matrix is about a frame attached to rigid body,
න 𝑦 2 + 𝑧 2 𝜌𝑑𝑉 − න 𝑥𝑦𝜌𝑑𝑉 − න 𝑥𝑧𝜌𝑑𝑉
𝑉 𝑉 𝑉
𝐼𝑥𝑥 𝐼𝑥𝑦 𝐼𝑥𝑧
0
𝐶𝑖 𝐼𝑖= − න 𝑥𝑦𝜌𝑑𝑉 න 𝑥 2 + 𝑧 2 𝜌𝑑𝑉 − න 𝑦𝑧𝜌𝑑𝑉 = 𝐼𝑥𝑦 𝐼𝑦𝑦 𝐼𝑦𝑧
𝑉 𝑉 𝑉 𝐼𝑥𝑧 𝐼𝑦𝑧 𝐼𝑧𝑧
− න 𝑥𝑧𝜌𝑑𝑉 − න 𝑦𝑧𝜌𝑑𝑉 න 𝑦 2 + 𝑥 2 𝜌𝑑𝑉
𝑉 𝑉 𝑉

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots – general formulation:
0
- Kinetic energy of link 𝑖 with mass 𝑚𝑖 and inertia 𝐼 𝑖 is:
1 1
𝐾𝐸𝑖 = 𝑚𝑖 0𝑽𝐶𝑖 ⋅ 0𝑽𝐶𝑖 + 0𝝎𝑖 ⋅ 0
𝐶𝑖 𝐼 𝑖
0
𝝎𝑖
2 2
- Since 0𝑽𝐶𝑖 = 0
𝑅 𝑖
𝑖
𝑽𝐶𝑖 and 0𝝎𝑖 = 0
𝑅 𝑖
𝑖
𝝎𝑖 , we have:
1 0 𝑖 0 𝑖 1 0
𝐾𝐸𝑖 = 𝑚𝑖 𝑅 𝑖 𝑽𝐶𝑖 ⋅ 𝑅 𝑖 𝑽𝐶𝑖 + 𝑅 𝑖 𝑖𝝎𝑖 ⋅ 𝐶0𝑖 𝐼 𝑖 0 𝑅 𝑖 𝑖𝝎𝑖
2 2
1 𝑖 0 𝑇 0 𝑖 1 𝑖
= 𝑚𝑖 𝑽𝐶𝑖 ⋅ 𝑅 𝑖 𝑅 𝑖 𝑽𝐶𝑖 + 𝝎𝑖 ⋅ 𝑖 𝑅 0 𝐶0𝑖 𝐼 𝑖 0 𝑅 𝑖 𝑖𝝎𝑖
2 2
1 𝑖 𝑖 1 𝑖 𝐶
= 𝑚𝑖 𝑽𝐶𝑖 ⋅ 𝑽𝐶𝑖 + 𝝎𝑖 ⋅ 𝑖 𝐼 𝑖 𝑖𝝎𝑖
2 2
𝐶𝑖 𝑖 𝑖 0 𝑖 𝑇
- Where we have used the expression 𝐼 𝑖 = 𝐼 𝑖 = 𝑅 0 𝐶𝑖 𝐼 𝑖 𝑅 0
to convert the description of the matrix from 0th frame to 𝑖 th frame

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots – general formulation:
𝐶𝑖
- 𝐼 𝑖 is the moment of inertia matrix about the center of mass, with
respect to a coordinate system {𝐶𝑖 } with origin at the center of
mass of the link and parallel to frame {𝑖}
𝑖 𝐶𝑖
- Since frame {i} is parallel to {𝐶𝑖 }, rotation matrices 𝑅 0 = 𝑅 0
- As you may recall from angular velocity matrix, the description of a
matrix can be changed from one coordinate frame to another
coordinate frame using rotation matrices as:
𝐶 𝐶 𝐵 𝐶 𝑇
𝐼 𝐴 = 𝑅 𝐵 𝐼 𝐴 𝑅 𝐵

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots – general formulation:
- From velocity propagation, we know 𝑖 𝝎𝑖 .
𝑖 𝑖 𝑖−1
𝝎𝑖 = 𝑅 𝑖−1 𝝎𝑖−1 + 0 0 𝜃ሶ 𝑖 For rotary joint 𝑖
𝑖
𝝎𝑖 = 𝑖
𝑅 𝑖−1
𝝎𝑖−1 For prismatic joint 𝑖
𝑖−1

- The quantity 𝑖 𝑽𝐶𝑖 can be calculated as:

𝑖
𝑽𝐶𝑖 = 𝑖𝑽𝑖 + 𝑖𝝎𝑖 × 𝑖𝒑𝐶𝑖

- We can substitute these values to get the kinetic energy of each

link:
1 𝑖 𝑖 1 𝑖 𝐶𝑖 𝑖
𝐾𝐸𝑖 = 𝑚𝑖 𝑽𝐶𝑖 ⋅ 𝑽𝐶𝑖 + 𝝎𝑖 ⋅ 𝐼 𝑖 𝝎𝑖
2 2

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots– general formulation:
- Potential energy of link 𝑖 is given by:
𝑃𝐸𝑖 = −𝑚𝑖 0𝒈 ⋅ 0𝒑𝐶𝑖 + 𝑃𝐸𝑖

- where 0𝒈 is the acceleration due to gravity

of magnitude g = 9.81𝑚/𝑠 2
0
- 𝒈 = 0,0, −𝑔 𝑇 if the reference frame {0} has its 𝒛ො axis pointing
vertically upwards
0
- 𝒑𝐶𝑖 is the location of the center of mass about the reference* 0
- 𝑃𝐸𝑖 consists of the potential energy due to non-gravity terms,
1
- for example for torsional spring at joint 𝑖, 𝑃𝐸𝑖 = 2 𝑘𝑖 𝜃𝑖2

*in fact, the reference can be any fixed reference since a constant value of reference
potential energy will be differentiated to zero.
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Lagrangian Formulation for Serial
Robot
- Lagrangian formulation for robot:
- Define scalar function called “Lagrangian” (ℒ) as the difference of total
kinetic energy (𝒦) and total potential energy (𝒫) of the robot
ℒ =𝒦−𝒫
- For our purpose, we use the generalized coordinate 𝑞 which is 𝜃 for
rotary joint and 𝑑 for prismatic joint
- Generalized velocity 𝑞ሶ is 𝜃ሶ for rotary joint and 𝑑ሶ for prismatic joint
- Generalized torque 𝝉 refers to the force 𝑓 for prismatic joint and the
torque 𝜏 for revolute joint
- Then dynamic model can be derived as the set of equations:

𝑑 𝜕ℒ 𝜕ℒ
− = 𝜏𝑖 for 𝑖 = 1,2, …, 𝑛
𝑑𝑡 𝜕𝑞ሶ 𝑖 𝜕𝑞𝑖

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Lagrangian Formulation for Serial
Robot
- Lagrangian Method for serial robots– general formulation:
- From the kinetic and potential energy of link 𝑖, define Lagrangian:
𝑁

ሶ = ෍(𝐾𝐸𝑖 − 𝑃𝐸𝑖 )
ℒ(𝒒, 𝒒)
𝑖
- Where 𝑁 is the number of links excluding the fixed link
- Then, the equations of motion are:
𝑑 𝜕ℒ 𝜕ℒ
− = 𝑄𝑖 𝑖 = 1, 2, … , 𝑛
𝑑𝑡 𝜕𝑞ሶ 𝑖 𝜕𝑞𝑖

- 𝑄𝑖 are the externally applied generalized forces

- If the generalized forces are applied by the joint actuators only, then
we have
𝑄𝑖 = 𝜏𝑖 𝑖 = 1, 2, … , 𝑛

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Lagrangian Formulation for Serial
Robot
- To summarize:
- From the velocity propagation, we have:
𝑖 𝑖 𝑖−1
𝝎𝑖 = 𝑅 𝑖−1 𝝎𝑖−1 + 0 0 𝜃ሶ 𝑖 For rotary joint 𝑖
𝑖
𝝎𝑖 = 𝑖
𝑅 𝑖−1
𝝎𝑖−1 For prismatic joint 𝑖
𝑖−1
𝑖 𝑖 𝑖−1
𝑽𝑖 = 𝑹 𝑖−1 𝑽𝑖−1 + 𝑖−1𝝎𝑖−1 × 𝑖−1𝑶𝑖 For rotary joint 𝑖
𝑖 𝑖 𝑖−1
𝑽𝑖 = 𝑹 𝑖−1 𝑽𝑖−1 + 𝑖−1𝝎𝑖−1 × 𝑖−1𝑶𝑖 + 0 0 𝑑ሶ 𝑖 𝑇 For prismatic joint 𝑖
Velocity of center of mass, 𝑖𝑽𝐶𝑖 = 𝑖𝑽𝑖 + 𝑖𝝎𝑖 × 𝑖𝒑𝐶𝑖
1 1
Kinetic energy of link i , 𝐾𝐸𝑖 = 𝑚𝑖 𝑖𝑽𝐶𝑖 ⋅ 𝑖𝑽𝐶𝑖 + 𝑖𝝎𝑖 ⋅ 𝑖
𝐼 𝑖
𝑖
𝝎𝑖
2 2
Potential energy of link 𝑖 𝑃𝐸𝑖 = −𝑚 𝑖
0
𝒈 ⋅ 0
𝒑𝐶𝑖 + 𝑃𝐸𝑖
𝑁

Lagrangian, ሶ = ෍(𝐾𝐸𝑖 − 𝑃𝐸𝑖 )

ℒ(𝒒, 𝒒)
𝑖
𝑑 𝜕ℒ 𝜕ℒ
Equations of motion, − = 𝑄𝑖 (= 𝜏𝑖 ) 𝑖 = 1, 2, … , 𝑛
𝑑𝑡 𝜕𝑞ሶ 𝑖 𝜕𝑞𝑖

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Question, clarifications, discussions….?

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