HARAMAYA INSTITUTE OF TECHNOLOGY

School of Electrical and Computer Engineering

DYNAMICS AND CONTROL

By

Gashu Mesfin (Lecturer)

May, 2023
 DYNAMICS

Robot Dynamics ⇒ Study of the relation between the applied

forces/torques and the resulting motion of an industrial manipulator.
 It is the study of forces and moments causing the motion in
a system.
 The dynamic behavior is described in terms of the time rate of
change of the robot configuration in relation to the joint torques
exerted by the actuators. This relationship can be expressed by a
set of differential equations, called equations of motion, that
govern the dynamic response of the robot linkage to input joint
torques.

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 DYNAMICS

 Similarly to kinematics, also for the dynamics it is possible to

define two “models”:
Direct model: once the forces/torques applied to the joints, as
well as the joint positions and velocities are known, compute the
joint accelerations.

Inverse model: once the joint accelerations, velocities and

positions are known, compute the corresponding forces/torques

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 Two methods can be used in order to obtain the equations of

motion: the Newton-Euler formulation, and the Lagrangian
formulation.
Newton-Euler formulation: is derived by the direct interpretation
of Newton's Second Law of Motion, which describes dynamic
systems in terms of force and momentum.
Lagrangian formulation: is on the other hand, the system's dynamic
behavior is described in terms of work and energy using generalized
coordinates.

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‘’Newton–Euler equations are known as

vector approach, whereas the Euler– Lagrange
equations are based on energy approach.’’

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Euler-Lagrange model

Lagrangian mechanics is based on the differentiation of energy

terms with respect to the system’s variables and time.

The form of the Euler-Lagrange equation is:

𝒅 𝝏𝑳 𝝏𝑳
− = 𝑸𝒒 ; 𝑳 = 𝑲 − 𝑷,
𝒅𝒕 𝝏𝒒ሶ 𝝏𝒒

Where 𝐿 is Lagrangian, 𝐾 is kinetic energy, 𝑃 is potential energy,

𝑄𝑞 is generalized forces, and 𝑞 is generalized coordinates.

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Derivation of Robot Manipulator Dynamics Using Lagrange

Equation

1. Choose the generalized coordinates 𝒒.

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 𝑃, and
then 𝐿 = 𝐾 − 𝑃.
4. Calculate the partial derivatives.
5. Calculate the generalized force 𝑄𝑞 .
6. Apply the Lagrange equation.

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Example 1 Derive the force-acceleration relationship for the one-degree of freedom system.

Fig. Schematic of a simple cart-spring system. Fig. Free-body diagram for the sprint-cart system.

1 2 1 2 1 1 2 1 2
K  mv  m x , P  kx2 L  K  P  m x  kx
2 2 2 2 2
 Lagrangian mechanics  Newtonian mechanics
__ __
L d . . .. L
 m x , ( m x )  m x,  kx
 F  m a
.
 xi dt x
.. F  kx  ma  F  ma  kx
F  m x  kx

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Example 2 Dynamic model of a pendulum (one dof manipulator)

𝜃 𝑙

1
Kinetic energy: 𝐾= 𝐼 𝜃Ǘ 2
2

Potential energy: 𝑃 = 𝑚𝑔𝑙(1 − cos 𝜃)

1
Lagrangian function 𝐿 : 𝐿 = 𝐼 𝜃Ǘ 2 − 𝑚𝑔𝑙(1 − cos 𝜃)
2

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1
 Lagrangian function: 𝐿 = I𝜃Ǘ 2 − 𝑚𝑔𝑙(1 − cos 𝜃)
2

from which

𝜕𝐿 𝑑 𝜕𝐿 𝜕𝐿
Ǘ
= 𝐼 𝜃, ǃ
= 𝐼 𝜃, = −𝑚𝑔𝑙sin 𝜃
Ǘ
𝜕𝜃 Ǘ
𝑑𝑡 𝜕𝜃 𝜕𝜃

 The generalized force in this case must account for the

torque applied to the joint and the friction effect:

𝑄𝑞 = 𝜏 − 𝑑𝜃Ǘ

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 From the general expression

𝑑 𝜕𝐿 𝜕𝐿
𝑄𝑞 = −
Ǘ
𝑑𝑡 𝜕𝜃 𝜕𝜃

 We have the following second order differential

equation

𝑰𝜽ǃ + 𝒅𝜽Ǘ + 𝒎𝒈𝒍𝐬𝐢𝐧 𝜽 = 𝝉

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Example 3 Using the Lagrangian method, derive the equations of motion for
the 2-DOF robot arm, as shown in Figure below. The center of
mass for each link is at the center of the link. The moments of
inertia are 𝐼1 and 𝐼2 .

𝑙1 , 𝐼1

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1
𝐾1 = 𝐼𝐴 𝜃ሶ12
2
1 2 1
𝐾2 = 𝐼𝐷 𝜃ሶ1 + 𝜃ሶ2 + 𝑚2 𝑣𝐷2
2 2

𝑥𝐷 = 𝑙1 𝐶1 + 0.5𝑙2 𝐶12 → 𝑥ሶ 𝐷 = −𝑙1 𝑆1 𝜃ሶ1 − 0.5𝑙2 𝑆12 𝜃ሶ1 + 𝜃ሶ2

𝑦𝐷 = 𝑙1 𝑆1 + 0.5𝑙2 𝑆12 → 𝑦ሶ 𝐷 = 𝑙1 𝐶1 𝜃ሶ1 + 0.5𝑙2 𝐶12 𝜃ሶ1 + 𝜃ሶ2

𝑣𝐷2 = 𝑥ሶ 𝐷2 + 𝑦ሶ 𝐷2
= 𝜃ሶ12 𝑙12 + 0.25𝑙22 + 𝑙1 𝑙2 𝐶2 + 𝜃ሶ22 0.25𝑙22 + 𝜃ሶ1 𝜃ሶ2 0.5𝑙22 + 𝑙1 𝑙2 𝐶2

The total kinetic energy of the system is the sum of the kinetic energies of links 1
and 2 . Remembering that the kinetic energy for a link rotating about a fixed
point (for link 1) and about the center of mass (for link 2).

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1 1 2 1
𝐾 = 𝐾1 + 𝐾2 = 𝐼𝐴 𝜃1 + 𝐼𝐷 𝜃ሶ1 + 𝜃ሶ2
ሶ 2
+ 𝑚2 𝑣𝐷2
2 2 2

1 1 1 1 2 1
= 𝑚1 𝑙12 𝜃ሶ12 + 𝑚2 𝑙22 𝜃ሶ1 + 𝜃ሶ2 + 𝑚2 𝑣𝐷2
2 3 2 12 2

1 1 1 1
𝐾 = 𝜃ሶ12 2 2 2
𝑚1 𝑙1 + 𝑚2 𝑙2 + 𝑚2 𝑙1 + 𝑚2 𝑙1 𝑙2 𝐶2
6 6 2 2
1 1 1
+𝜃ሶ22 2 ሶ
𝑚 𝑙 + 𝜃1 𝜃2ሶ 2
𝑚 𝑙 + 𝑚 𝑙 𝑙 𝐶
6 22 3 22 2 212 2

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 The potential energy of the system is the sum of the potential

energies of the two links:
𝑙1 𝑙2
𝑝 = 𝑚1 𝑔 𝑆1 + 𝑚2 𝑔 𝑙1 𝑆1 + 𝑆12
2 2

 The Lagrangian for the two-link robot arm is:

1 1 1 1 ሶ 22 1
𝐿 = 𝐾 − 𝑃 = 𝜃Ǘ12 2 2 2 𝜃
𝑚1 𝑙1 + 𝑚2 𝑙2 + 𝑚2 𝑙1 + 𝑚2 𝑙1 𝑙2 𝐶2 + 𝜃22 𝑚2 𝑙22
6 6 2 2 6
1 1 𝑙1 𝑙2
+𝜃Ǘ1 𝜃Ǘ2 2
𝑚 𝑙 + 𝑚 𝑙 𝑙 𝐶 − 𝑚2 𝑔 𝑆1 − 𝑚2 𝑔 𝑙1 𝑆1 + 𝑆12
3 22 2 212 2 2 2

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 Taking the derivatives of the lagrangian and substituting the

terms into lagrangian equations yields the following two
equations of motion:

1 1 1 1
𝜏1 = 𝑚1 𝑙12 + 𝑚2 𝑙12 + 𝑚2 𝑙22 + 𝑚2 𝑙1 𝑙2 𝐶2 𝜃ሷ1 + 𝑚1 𝑙22 + 𝑚2 𝑙1 𝑙2 𝐶2 𝜃ሷ 2
3 3 3 2
1 1 1
− 𝑚1 𝑙1 𝑙2 𝑆2 𝜃ሶ1 𝜃ሶ2 − 𝑚2 𝑙1 𝑙2 𝑆2 𝜃ሶ22 + 𝑚1 + 𝑚2 𝑔𝑙1 𝐶1 + 𝑚2 𝑔2 𝑙2 𝐶12
2 2 2
1 1 1 1 1
𝜏2 = 𝑚2 𝑙2 + 𝑚2 𝑙1 𝑙2 𝐶2 𝜃ሷ1 + 𝑚1 𝑙2 𝜃ሷ2 + 𝑚2 𝑙1 𝑙2 𝑆2 𝜃ሶ12 + 𝑚2 𝑔2 𝑙2 𝐶12
3 2 3 2 2

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 The above equations can be written in matrix form as:

1 2 2
1 2
1 2
1
𝑚1 𝑙1 + 𝑚1 𝑙1 + 𝑚2 𝑙2 + 𝑚2 𝑙1 𝑙2 𝐶2 𝑚2 𝑙2 + 𝑚2 𝑙1 𝑙2 𝐶2
3 3 3 2 𝜃1ሷ
1 2
1 1 2
𝜃2ሷ
𝑚 𝑙 + 𝑚 𝑙 𝑙 𝐶 𝑚 𝑙
3 22 2 212 2 3 22
1
0 − 𝑚2 𝑙1 𝑙2 𝑆2
2 𝜃ሶ12 − 𝑚2 𝑙1 𝑙2 𝑆2 0 𝜃ሶ1 𝜃ሶ2
+ +
1 ሶ𝜃22 0 0 𝜃ሶ2 𝜃ሶ1
𝑚2 𝑙1 𝑙2 𝑆2 0
2
1 1
𝑚 + 𝑚2 𝑔𝑙1 𝐶1 + 𝑚2 𝑔𝑙2 𝐶12
2 1 2 𝜏1
+ = 𝜏
1 2
𝑚2 𝑔𝑙2 𝐶12
2

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Robotic Control

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