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Robot Dynamics PDF
Robot Dynamics PDF
Hesheng Wang
Dept. of Automation
Shanghai Jiao Tong University
What is Robot Dynamics?
• Robot dynamics studies the relation between
robot motion and forces and moments acting
on the robot. 2 l2
2
1 l1
1
x
Rotation about a Fixed Axis
v = x rp = x r
The direction of v is determined by the
right-hand rule.
Rotation about a Fixed Axis
(continued)
The acceleration of P can also be defined by
differentiating the velocity.
a = a x r – w2r = at + an
The magnitude of the acceleration vector is a = (at)2 + (an)2
Rotation of a Vector
• Consider rotation of a vector about a
axis.
P
r
Point P is rotating about axis u.
r is the position vector of point P.
u
: the speed of rotation
The angular velcotiy : ω u
The rate of change of position vector r :
d
r ωr
dt
Rotation of a Frame
Frame A
yB
xB
• Consider a frame B rotating
about an unit vector u.
u
i B , jB , k B : unit directional vectors of the axes zB
of frame B w.r.t. the reference frame A
d d d
iB ωiB, jB ω jB , kB ωkB
dt dt dt
The derivative of the rotation matrix of frame B :
d
R i B j B k B ω i B ω j B ω k B
dt
ωR
R
General Motion
• A general motion can be considered a
combination of a translation with a z1
point and motion about the point. B
A
O xo yo z o : A fixed reference frame z0 y1
A x1 y1 z1 : A frame that translate with A x1
O y0
The velocity relation:
x0
VB VA ω r
The acceleration relation:
a B a A α r ω (ω r )
Introduction to Dynamics
Newton’s Laws of Motion
First Law: A particle originally at rest, or moving in a
straight line at constant velocity, will remain in this state if
the resultant force acting on the particle is zero.
F
Second Law: If the resultant force
on the particle is not zero, the a
particle experiences an acceleration
in the same direction as the resultant F ma
force. This acceleration has a m : the mass
magnitude proportional to the F : the net force
a : the acceleration
resultant force.
Solution:
(1) Draw the free-body diagram of the particles
(2) Apply Newton’s 2nd Law
N
For the ball
R
m1 xb N sin (1)
m1 yb N cos m1 g (2)
From eqs. (1)-(5), we can solve the five unknowns, i.e. the acceleration
Linear Momentum
• Linear momentum: product of mass and velocity:
L mV mV
– It is a vector, in the same direction as velocity
- SI Unit : Kg m/s V
H o r mV
H o is a vector perpendicular to both V and r.
Its direction is determinedby the right - hand rule
Its unit is Kg m2 / s
Principle of Angular Momentum
Consider a force F acting on the particle
V
r mV r mV
H rF
o
O
H rF M
o o
L MVC Ma c f i
center of mass
i Equation of motion of
Center of mass
i dt ej
f2 mj
The resultant moment of all fj
EXTERNAL forces acting
on the system about O
O
2 1 l1
Rx 1
1
O
Ry Nx x0
Rx Ry
m2g Ny m1g
Example (continued)
Rx
(2) Dynamics of link 1. As
link 1 is rotating about O, Nx
1
1
Ry
I O1 M o Ny m1g
Moment of
Resultant moment about O
inertia about O
l1
I O1 1 m1 g cos 1 R y l1 cos 1 R x l1 sin 1 (1)
2
Example
(3) Dynamics of link 2. 2
As link 2 is in a general plane motion C2
m2 a C 2 F Ry
C
2 ω 2 C I 2 ω 2 M C
I 2ω B
Rx
2
l2 l2
I 2 zz (1 2 ) 2 R x s12 R y c12 (4)
2 2
Oi xi
Joint i-1
si-1 ri Ci: center
yi-1 of mass
ai-1 i
i 1 xi-1
Oi-1
Relative angular
Angular velocity relation ωi ωi1 ωi /i1 velocity if link I
to link i-1
between link i-1 and i:
ω ω z
i i1 i i (1)
Differentiating
ω i1 zii ωi1 zii
i ω (2)
(1)
Recursive Newton-Euler Equation (Cont’)
a Ci a i a Ci / Oi
Acceleration at the
center of mass: ai ω
i ri ω i (ω i ri ) (5)
Forward Equations
ω i ω i 1 z ii (1)
ω i1 zii ωi1 zii
i ω (2)
a i a i 1 ω
i 1 s i 1 ω i 1 (ω i 1 s i 1 ) (3)
i=0
a Ci a i ω i ri 1 ω i (ω i ri 1 ) (4)
0
f i mi a ci f i 1 0 (7)
m g
i
Dynamics of robot link (Cont’)
Applying the Euler’s equation
i ω i I i ω i n i n i 1 ri f i (s i ri ) f i 1
Iiω
ni Iiω
i ω i I i ω i n i 1 ri f i (s i ri ) f i 1 (8)
-ni+1
Eqs. (7) and (8) give the recursive
backward equation for calculating the Oi+1
interaction force and moment si
Relation between ni and joint torque Ci
ni Oi ri -fi+1
i z Ti n i
as actuator produces torque about the joint axis only mig
fi
Backward Calculation
Initial conditions: When i k (for the last link) : f k 1 0, n k 1 0
k : the number of links
i=K
i=i-1
NO YES
i=0 END
Lagrange Formulation of Robot Dynamics
1 2 1 T
mVc ω Iω
2 2
I: inertia tensor
Potential Energy
• We here consider the gravitational potential
energy only.
For a particle : U mgz
z: the height of the particle w.r.t. a reference level
f
– Work is a scalar
– It could be positive, zero and negative
– SI unit: Nm
Work done by time-varying force
Consider the work done by a
time-varying force on a particle V2
that moved from one position
to another.
2 V1 Position 2
T
W f (t )dr
1
2 2
f(t)
dV
m
1
dt
1
dr mVdV Position 1
1 1
mV22 mV12
2 2 Work-energy principle: The work done
K
by a force acting on particle is equal to
the change of its kinetic energy
Conservative force and Non-
Conservative force
• The force associated to the potential energy is
called conservative force. A force that is not
associated with the potential energy is called
non-conservative force.
• The work done by conservative force (gravity z2
force)
Wg mg ( z 2 z1 ) U
K U constant
Lagrange Equation
• Generalized coordinates q: A set of parameters
for representing the configuration (position &
orientation) of a system.
– q must specify the configuration uniquely
– Once the values of q are fixed, the system cannot
move.
– The choice of q is not unique.
• Degree of freedom (DOF): The dimension of the
generalized coordinates vector q is called
degrees of freedom of the system
Examples
2
l2
2
q 1
1 l1
2
DOF =2
1
x0
x
y
q
DOF=4
(x,y)
Generalized Force
Consider the work done by non-conservative
forces under a differential displacement of the
system
ri : differential displacement at the
action point of f i due to a differential
change q of the generalized coordinates q
Generalized Force:
Lagrange Equation
q: the generalized coordinates of a system
K: Kinetic energy of the system
U: the potential energy of the system
F: the generalized forces of the system
Define L=K-U: Called Lagrangian
The dynamics of the system is given by
d L L
F
dt q q
Derivation of Robot Dynamics using
Lagrange Equation
1) Choose the generalized coordinates q (usually
use the kinematics parameters defined by the
D-H method)
2) Identify the non-conservative forces that are
exerted at the system and do work
3) Calculate the kinetic energy K and the
potential energy U, and then L=K-U
4) Calculate the partial derivatives
5) Calculate the generalized force F.
6) Apply the Lagrange equation.
Example 1
Center
of mass
Example: Denote the mass of link i by mi. The mass is
uniformly distributed over the link. Derive the
dynamics of the 2 DOF arm. 2
l2
Solution (1) Generalized coordiantes : q 1 y
c2
2
2
(2) Non - conservative forces that do work : 1 , 2 l1 1
(3) The kinetic energy: 1
1 2
link 1 rotates about O, K1 I o1 x
2
1 1
link 2 in general plane motion, K 2 m2Vc22 I c2 22
2 2
l2
Position of l c
c2 1 1 2 c12
x l 22 2
the Center Vc22 x c22 y c22 l1212 (1 2 ) l1l 2 c21 (1 2 )
l 4
Of mass yc2 l1s1 2 s12
2
Example 1 (continued)
The total kinetic energy
1 1
K K1 K 2 ( I o m2 l12 )12 m2 l1l2 c21 (1 2 )
2 2
1 1
( m2 l22 I c2 )(1 2 ) 2
8 2
The potential energy (assume y=0 is the reference
l1 l
U m1 gyc1 m2 gyc 2 m1 g s1 m2 g (l1s1 2 s12 )
2 2
(4) Calculate the partial derivatives
L 1 1
( I 0 m2 l12 )1 m2 l1l 2 c2 (1 2 ) ( m2 l 22 I c2 )(1 2 )
1 2 4
L 1 1
m2 l1l 2 c21 ( m2 l 22 I c2 )(1 2 )
2 2 4
L l l
m1 g 1 c1 m2 g (l1c1 2 c12 )
1 2 2
L l 1
m2 g 2 c12 m2 l1l 2 s 21 (1 2 )
2 2 2
Example 1 (continued)
5) The generalized forces:
F 1
W 11 2 2
2
d L L
6) Apply the Lagrange equation: F
dt q q
s2 0 1 0 0 l2
c1 s1 0 0 c2
0
0 0 1 0 0
s 0 0 1 0 2
T3
c1 0 0
1
0
T1 1 T2
0 s c2 0 0 0
0 0 1
0
0 0 1 02 1 0 0 1
0 0 1 0 0
Example 2 (continued)
Forward kinematics:
c1c2 c1s 2 s1 0 c1c2 c1s 2 s1 l 2 c1c2
s1s 2 c1 0 s c s1s 2 c1 l 2 s1c2
T2 0T1 1T2 s1c2
0 0 2
0
T3 T2 T3 1 2
s c2 0 0 s c2 0 l2 s2
02 0 0 1 02 0 0 1
d l 2 c1c2
V l 2 s1c2 V 2 l 22 c2212 l 2222
dt l 2 s 2
2 2
Example 2 (continued)
(4) Calculate the partial derivatives
L
( I1 m2 l 22 c22 )1
1
L
m2 l 222
2
L
0
1
L 1
m2 l 22 sin 2 212 m2 gl 2 c2
2 2
Example 2 (continued)
(5) Generalized forces:
W 11 2 2 f T x F 1 J T (q)f
2
x: the position of the endpoint
C (q ,q ) G (q )
1
H (q)q ( H (q) S(q, q ))q G (q) τ
2
Inertial force Centrifugal and
Coriolis forces Gravity Joint inputs