Lecture 1

Recursive Robot
Dynamics

Prof. S.K. Saha

ME Dept., IIT Delhi
 What is recursive?

#n: inertia force

n: torque #n
#n: vel., accn.
#i inertia force n
#i
i: torque #i: vel., accn.
#1:inertia force i

#1
#1: vel., accn.
1: torque
1 1: rate, accn
#0 +
#0: vel., accn. = 0
 Why recursive?
• Efficient, i.e., less computations and CPU time
Compute jt. torque Compute jt. accn.
(Inverse) (Forward)
Equal number of 1-, 2- and 3-DOF joints 4
x 10 1-, 2- and 3-DOF joints
14000 2.5
Proposed
12000 Balafoutis
Featherstone 2
10000 Angeles
Computational Counts

Computational Counts
1.5
8000

6000
1

4000
Proposed
0.5 Mohan and Saha
2000 Lilly and Orin
Fetherstone
0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Total number of joints Total number of joints

Ref. : Shah, S.,V. Saha, S.K., Dutt, J.K, Dynamics of Tree-type Robotic Systems, Springer, 2013
 Why recursive? (contd.)
• Numerically stable  Simulation is realistic
Recursive Non-recursive
(Forward) (Forward)

Ref. : Mohan, A., and Saha, S.K., A recursive, numerically stable, and efficient simulation
algorithm for serial robots with flexible links, Multibody System Dyn., V. 21, N. 1,pp. 1—35.
Unrealistic: Constraint Violation

θ3
3
#3

#2 #1

θ1
θ2
2 1
#0
 Review of Dynamic Formulations
d  L  L
• Euler-Lagrange (EL)     i
dt  qi  qi
mi v i  fi
• Newton-Euler (NE)
I i ωi  ωi  I i ωi  n i

Mi t i  WM
i i t i  wi

 Ii O  ω i  1 Ο  ω i  n i 
Mi    , Wi   Ο  , ti    , wi   
 O m i 
1  Ο  vi   fi 
Starting point for the Recursive Dynamics
(using the DeNOC matrices)
 Newton-Euler to Euler-Lagrange
DeNOC Rate of
Link velocities
t (ω and v) = matrices × Independent
coordinate θ.

 Decoupled form of the velocity transformation matrix

matrices
DeNOC

,
Newton-Euler Minimal order
× Equations of = Equations of motion
motion (Euler-Lagrange)

 Eliminate constraint forces and moments from the NE equations.

• Analytical expressions of vector and matrices,

Decomposition of inertia Matrix, Recursive algorithms,
Dynamics model simplifications, etc.
 Example: A Moving Mass

Force, f fv
x
f Mass, m

f v : Vertical component  Reaction

f : Horizontal component  Motion
 Equation of Motion
External
force, fe
j
Mass, m
c
Reaction, f c
i

Newton’s 2nd law: f e  f c  mc

Velocity constraint:   [i ]x
c
Note that
NOC: [i ]
[i]T ( fv  fc )[ j]  0
Euler-Lagrange:
[i]T [ fi  ( fv  fc ) j]  [i]T mxi  f  mx
 Uncoupled NE Equations
• Newton-Euler (NE) equations for the ith rigid body
I i ωi  ωi  I i ωi  n i
mi v i  fi

• NE equations in compact form

Mi t i  WM
i i t i  wi

where

 Ii O  ω i  ω i  1 Ο  n i 
Mi    , t i    , Wi    , wi   
O mi 1  vi   Ο Ο  fi 
 Uncoupled NE Equations
• Separate the bodies  n bodies

Mi t i  WM
i t
i i  w E
i  w C
i

#n
#i
n

i • 6n NE equations
#1
Mt  WMt  w E  wC
1
M  diag [M1 M 2 Mn ]
#0
W  diag [ W1 W2 Wn ]
 Kinematic (Velocity) Constraints

 1 O
   ei 
Bij  (r j  di )  1 1 
 i ei  di 
p

 c ij 

Bij: the 6n  6n twist-propagation matrix

pi: the 6n-dimensional joint-rate propagation vector or twist generator
 DeNOC Matrices

• NNlNd: the 6n  n Decoupled Natural Orthogonal Complement

 Coupled Equations of Motion

• Pre-multiplication by NT

NT (Mt  WMt )  NT (w E  w C )
• Equations in compact form
n coupled EL equations
T
N w C
0 Iθ  Cθ  τ
- no partial differentiation
I : nn Generalized inertia matrix (GIM)
C : nn Matrix of convective inertia (MCI) terms
τ : n-dimensional vector of generalized forces due to driving
torques/forces, and those resulting from the gravity,
environment and dissipation.
 Generalized Inertia Matrix (GIM)
• Generalized inertia matrix (GIM)
~
I  Nd MNd where M  NTl MN l
T

• Each element of the GIM

i p MB p
ij
T
i i ij j

• Mass matrix of composite body

Mi  Mi  B T
i 1,i Mi 1Bi 1,i

15
 Vector of Convective Inertia (VCI)
• Vector of Convective Inertia
h  Cθ  NTd w
~'

where ~ '  NT (Mt' WMt )

w d and t'  (N l  Nl W)θ

• Each element of h
hi  pTi w i
where w i  w i  BTi 1,i w i 1 , and w n  w 'n
and w i  M i t i  Wi M i t i
 Generalized Force (Joint Torque)
• Generalized Force
~E
τ  NTd w E where w  Nl w
T E

• Each element is obtained recursively

 i  pTi w iE ,
where w iE  w iE  BTi 1,i w iE1 , and w nE  w nE
;

Example: One-link arm

1 1
[e]1  [0 0 1]T ; [d]1  [ ac as 0]T
2 2
0 0 0 c  s 0
Q   s c 0
2
ma  
[I ]  0 1 0
2 12  
0 0 1   0 0 1

 s 2  s c 0
ma 2  
T
[I]1  Q[I]2 Q   s c c 2 0
12  
 0 0 1
 

 e  I O
where p    and M  M   
 e  d   O m1 
I ( i11 )  pT Mp Ref: “Introduction to
1 Robotics” by Saha
 eT Ie  m(e  d)T (e  d)  ma 2
3
Moment of inertia about O
 h  pT (MW  WM)p
  eT [I(e  e)  (e  Ie)]  0

n 1
 1  N w  [e
T
l
E T
(e  d) ]  
T
 1    mgas
f  2
where [n]1  [0 0  ]T ;[f ]1  [mg 0 0]T

1 2 1
Equation of motion: ma     mgas
3 2
 Recursive Inverse Dynamics
γ n  M n β n  Wn M n α n
γ n 1  M n 1β n 1  Wn 1M n 1α n 1  BTn, n 1 γ n

γ1  M1β1  W1M1α1  BT21γ 2

 n  pTn γ n #n

 n 1  pTn 1 γ n 1 n
#i

 1  p1T γ1 i β1  p11  Ω1p11

#1 β 2  p 2 2  Ω 2 p 2 2

1
α1  p11  B 21β1  B 21α1

#0
α 2  p 2 2  α1
β n  p n n  Ω n p n n
α n  p n n  α n 1  B n , n 1β n 1  B n , n 1α n 1
 Lecture 2

Recursive Robot
Dynamics

Prof. S.K. Saha

ME Dept., IIT Delhi
 Summary of Previous Lecture
• Why recursive?
• Define DeNOC (Decoupled Natural Orthogonal
Complement) matrices from velocity
constraints
• Derived NE  EL equations (Constrained
minimum set)
• Analytical expressions for the GIM, and other
matrices
 One-link Arm

Equation of motion
(Dynamic Model)
1 2 1
ma     mgas
3 2
RoboAnalyzer (Free: www.roboanalyzer.com)

Spanish
(Mexico)

Chinese
(PRC)
Verify the results using MATLAB’s symbolic tool
(MuPAD)
1
I ( i11 )  pT Mp  eT Ie  m(e  d)T (e  d)  ma 2
3

h  pT (MW  WM)p   eT [I(e  e)  (e  Ie)]  0

n 1
 1  N w  [e
T
l
E T
(e  d) ]  
T
 1    mgas
f  2
where [n]1  [0 0  ]T ;[f ]1  [mg 0 0]T

1 2 1
Equation of motion: ma     mgas
3 2
;

Example: Two-link Manipulator

X3
 i11 i12 ( i21 )   h1  1 
I  ; h  Cθ    ; τ   
i21 i22   h2   2 

i22  pT2 M2B22p2 : Scalar Y3

 e2 
p2    : 6-dim. vector
e 2  d 2 
I 2 O 
M2  M2    : 6  6 sym. matrix
 O m2 1
 1 O
B22   : 6  6 identity matrix
O 1 

i22  [e 2 ]T2 [I 2 ]2 [e 2 ]2  m2 [d 2 ]T2 [d 2 ]2

 i22  [e 2 ]T2 [I 2 ]2 [e 2 ]2  m2 [d 2 ]T2 [d 2 ]2

1 1
[e2 ]2  [0 0 1]T ; [d2 ]2  [ a2 c2 a2 s2 0]T X3
2 2

c 2  s 2 0
Q 2   s 2 c 2 0 
 0 0 1  Y3

 s 2  s 2 c 2 0
2  
2
ma 
[I 2 ]2  Q 2 [I 2 ]3 QT2   s 2 c 2 c 2 2 0
12  
 0 0 1
 

1 2 1 2 1
i22  m2 a2  m2 a2  m2 a2
2
12 4 3
 i21 ( i12 )  pT2 M2B21p1 : Scalar
;

 1 O
B21    : 6  6 matrix
 (r1  d2 )  1 1 
 e1 
p1    : 6-dim. vector
e1  d1 
c1  s1 0 
Q1   s1 c1 0  r1
 0 0 1 

i21  [e2 ]1T [I 2 ]1[e1 ]1  m2 [d2 ]1T ([d1  r1 ]1  [d2 ]1 )

[e2 ]1   0 0 1 ; [d 2 ]1  Q1[d 2 ]2  [ a2 c12
T 1 1
a2 s12 0]T
2 2
1 1
[e1 ]1  [0 0 1] ; [d1 ]1  [r1 ]1  [ a1c1
T
a2 s1 0]T
2 2
1 1 1 1 1
i21  m2 a22  m2 a1a2 c2  m2 a22  m2 a22  m2 a1a2 c2
12 2 4 3 2
 i11  p1T M1B11p1 : Scalar
 1 O X3
B11    : 6  6 identity matrix
O 1 

 I1 O 
M1    : 6  6 sym. matrix
O m1 1 Y3
~
~ T ~
 I1 δ1  1
M1  M1  B 21M 2 B 21   ~ 
 δ1  1 m1 1 


I1  I1  I 2  m2 ( r1  d 2 )  δ1  1 
~ c12 ( c21 )
δ1  m2 c 21
i11  [e1 ]1T [I1 ]1[e ]1  m1[d1 ]1T [d1 ]1
~ m m
m1 1 2 1
 (m1a12  m2 a22 )  m2 a12  m2 a1a2 c2
3
 Vector of Convective Inertia
1 1
h2  pT2 w2  m2 a1a2 sθ2θ12 h1  p1T w1  m2 a1a2 sθ2θ2 ( θ2  θ1 )
2 2

Inverse Dynamics Results

DH and Inertia parameters

Link Joint ai bi i i
(m) (m) (rad) (rad)
1 r 0.3 0 0 JV [0]
2 r 0.25 0 0 JV [0]
Link mi ri,x ri,y ri,z Ii,xx Ii,xy Ii,xz Ii,yy Ii,yz Ii,zz
(kg) (m) (kg-m2)
1 0.5 0.15 0 0 0 0 0 0.00375 0 0.00375
2 0.4 0.125 0 0 0 0 0 0.00208 0 0.00208
Joint Torques
No gravity
(horizontal)

With gravity
(vertical
 Forward Dynamics & Simulation
Equation of motion for one-link arm
1 2 1
ma     mgas
3 2
3 1
Forward Dynamics:  2
(  mgas )
ma 2

Integration (numerical): y1   ; y2   1st order form:

y1  y2 y  f (y , t )
3 1
y2    (  mga sin y1 )
Simulation ma 2 2

Integrate (say, numerically) to obtain y(t) using,

e.g., Runge-Kutta method (ode45 of MATLAB)
Simulation using RA
 Recursive Forward Dynamics
Equation of the motion
Iθ  Cθ  τ UDUT θ  , where I  UDUT and   τ  Cθ
Analytically
The joint accelerations are then solved as
θ  U T D1U1
Hence forward dynamics requires three steps
Step 1: Computation of φ
Step 2: UDUT Decomposition

Step 3: Recursive computation of θ

34
 Observations
• Derivations appear to be complex for the
simpler manipulators
• It was for demonstration only
• The computations will be done algorithmically
• Due to recursive natures, calculations are fast
• The algorithm should be used for complex
robotic systems like 6- or more-DOF robots
 Lecture 3

Recursive Robot
Dynamics

Prof. S.K. Saha

ME Dept., IIT Delhi
 Summary of Previous Lecture
• Use of RoboAnalyzer (RA) for inverse dynamics
of one-link arm
• GIM for 2-link manipulator
• Inverse dynamics of KUKA robot
• Forward dynamics and simulation
• Use of RA for simulation
• Some observations for using recursive
dynamics
Stewart Platform Parallel Manipulators
 Four-bar Mechanism
• Separate all links
• Draw Free-body diagrams (FBD)

f12
3 #2 2 f32
3
a2 2
1
#3 a3 #2
a1 #1
1 f23 r1
4 a0 1 f21 C1
#3 #1
4 Base, #0 d1

f01
Equations of motion: 3 per link f03

I11 = 1  d1x f 01 y  d1 y f 01x  r1x f 21 y  r1 y f 21x Base, #0

m1c1x  f 01x  f 21x ; m1c1 y  f 01 y  f 21 y 9 equations

 f12 x  f12 y 13 – 4 (3rd law) = 9 unknowns
1 d1 y d1x r1 y r1x    1   I11 
 1  f   
 1 0's   01x   m1c1x 
 1 1   f 01 y   m1c1x 
    
 d2 y d 2 x r2 y r2 x   f12 x   I 2 2 
 1 1   f12 x    m c 
    2 2x 
 1 1   f 23 x   m2 c2 y 
     
d3 y d3 x r3 y r3 x  23 y   I 33 
f
 
 0's 1 1   f 03 x   m3 c3 x 
  f   
 1 1  03 y   m3 c3 y 
A : 9  9 matrix x : 9 1 b : 9 1
• Ghosh and Mallik, Theory of Machines and Mechanisms
x=A1b  L Ux =b; Ly=b (Forward); Ux=y (Backward)
y

Disadv.: Need to calculate even the reactions for inv. dyn.

 Three-link Serial with f03 as External
• Join first three links form

f12
3 #2 2 f32
3
a2 2
#3 1
a3 #2
a1 #1
f03 1 f23 r1
a0 1 f21 C1
#3 #1
Base, #0 d1

Equations of motion f01

f03
NTd NTl (Mt  WMt )  NTd NTl (w E  wC )
Base, #0
I θ  Cθ  τ E
 τ C
: 3 eqs.
33 JT f03
a0  a1  a2  a3  0  J θ  0
0 23
 Proof of C = JTf03
f23
• The DeNOC matrices for 3-link serial manipulator n23

 t1   1 0 ' s   p1 0 ' s 1  C3 d3

       n03
t 2   B 21 1  p2   2  r3
 t 3   B31 B32 1   0 ' s p3   
 3 f03
181 Nl :1818 N d :183 31
 wC   BT 
BT21 (w C
C
32 3 )
w
 1
2
 1 BT21 T  C
B31 w1  B32B 21 B31 B 21B32 B31 
T T T

  
T  C  
Nl w  
T C
1 B32 w 2   w 2  B32 w 3
C T C

    
0 ' s 1  wC  w C2
  3   
 wC 
 3 
 1 (r2  d3 )  1 n03  n 23  d3  f23  r3  f03 
B 
T
 w 
C

32
 0' s 1 
3
 f 03  f 23 
66
 n32  n12  d 2  f12  r2  f32 
 n23 
w 2  w 2  B32 w 3  
C C T C

61  f32  f12 
  f23 
n 03  n 23  d3  f23  r3  f03  (r2  d3 )  (f03  f23 ) 
+ 
 f 03  f 23 
n03  n12  (r2  d3  r3 )  f03  d 2  f12  3 r C 2
w C2   
2 2
3
p2 2
  r3
d3
p2 1
 f03  f12 
p1 1
f03
1
n03  n01  p1  f03  d1  f01 
w 
C

1
 f 03  f 01 
 Constraint Torque
 pT 0 ' s   w1C 
 1    ei 
NTd w C   pT2  w 2 
C pi (i  1, 2,3)   
    ei  d i 
0 ' s p3   w 3 
T C
  
n 03  n 01  p1  f03  d1  f01 
 C
 p w  e
T C T
(e1  d1 )  
T

1
Scalar
1 1 1
 f 03  f 01 
= e1T (n03  n01  p1  f03  d1  f01 )
 (e1  d1 )T (f03  f01 ) 3 r C
2 2 2
3
= e (ρ1  f03 )  (e1  ρ1 ) f03
T
1
T
a3 d2 2
1
p1
 2C  pT2 wC2  eT2 (ρ2  f03 )  (e2  ρ2 )T f03 f03
1 1
1

 3C  pT3 w3C  eT3 (a3  f03 )  (e2  a3 )T f03

 Equations of Motion
 
Iθ  Cθ  τ E
 τ C
J  e1  ρ1 e2  ρ2 e3  ρ3 
τ* :known [1 ,0,0]T JT f03  
 a 3 

 * 
 1  1 a1s1  a2 s12  a3 s123 a1c1  a2 c12  a3c123   1 
 2*   0  
a2 s12  a3 s123 a2 c12  a3c123   f 03 x 
  
 3*  0 a3 s123 a3c123   f 03 y 
   
A:33 x:31
b:31

Adv.: Reduced size of 33 (instead of 99) for

inverse dynamics
 Subsystem Recursive Method
• Cut-open in a suitable location
• Make serial systems
3 #2 2
3 • Apply serial-chain methods
a2 2
1
#3 a3
a1 #1
1
4 a0 1 f12 (-)
2-3 3 #2
4 Base, #0

#3 #1
f21 ()
Subsystem equations 1
4 123 1
I θ  C θ  τ  (τ )
I I I I I C I

: 1 eq., 3 (, x, y)? [1R: done] 4 Base, #0

I II θII  CII θII  τ II  (τC )II a1  a0  a2  a3

: 2 eqs., 2 (x, y)? [2R: done]
 1II 
a1  a2  a3  
J I  I  J II θII   1 ; θ   123II 
I II

  
 2 
 a s   a s a s a s   3 
J   1 1  ; J   3 123 2 12
I II 2 12

    
21  1 1  22
a c  3 123 2 12
a c a c a2 12 
c
I
Aen NlnI N dI II II II
Aen Nln N d

System + Motion
Subsystem II: I θ  C θ  τ  ( τ )
II II II II II C II

T
Solve 
[0,0] (J ) λ
II T

Subsystem I: I I I  C I I   I  ( C ) I
( J1 )T λ

System + Motion Driving torque, 1

Adv.: Subsystem recursion.; Maximum size: 22 (not

99 or 33); Can use existing serial-chain dyn. algo.
 Free: http://www.redysim.co.nr/download
Sub-system Length (m)
Mass (Kg)
(link)
I(#1) 1.5 0.038
II(#2) 5 0.2304
II(#3) 3 0.1152
400 0.5
1
350 0.4

0.3
300

Driving torque (Nm)

0.2
Joint angles (deg)

250 3
0.1
200
0
150
-0.1
100
-0.2

50 2
-0.3

0 -0.4
0 0.5 1 1.5 0 0.5 1 1.5
Time (s) Time (s)
 Lecture 4

International Recursive Robot

2013
Dynamics

Prof. S.K. Saha

Int.: 2009 ME Dept., IIT Delhi
Indian: 2013
 Summary of Previous Lecture

• Dynamics (classical way) of 4-bar mechanism

using FBD
• Cut-open 3+0 constrained dynamics of 4-bar
• Cut-open 2+1 constrained dynamics of 4-bar
• Inverse dynamics using ReDySim
Forward Dynamics of 4-bar Mechanism
Constrained equations of motion:

I   C     ( )
I I I I I C I I II θ II  CII θ II  τ II  ( τ C ) II
1 [0,0]T  ( J II )T λ
( J1 )T λ

  I
 0 
Velocity constraints:  J -J   II    
I II

θ   0 
DAE [Diff. Algeb. Eqn.) formulation: System appr.]
I I O (J I )T   I    1  C I I  x=A1b
 II T   II   
0 I II -(J )  θ    -C θ II II
 +
J I -J II O   λ  -J I I  J II θ II   (jt. accn.) jt.
 vel. & pos.
A:55 x:51 b:51
 System-level Lagrange Multiplier Method
Constrained equations of motion: I I I  C I I   I  ( C ) I
1
( J1 )T λ

I II θ II  CII θ II  τ II  ( τ C ) II
I I
O      -C    (J ) 
I I I I I T [0,0]T  ( J II )T λ

 II   II 
  II II II    II T 
λ
0 I  θ   τ -C θ   (J ) 
I:33 θ:31 1  JT :32
 I JT  θ   1 
Velocity constraints:      
 J O   λ  2 
 I

 J I -J   II   -J I  I  J II θ II
II
1 T 1 1
 θ  2
λ  ( JI J ) (JI 1  2 )
J
I :22
θ
1
jt. vel. & pos.  (jt. accn.) θ  I (  JT λ )
1

Adv.: Inversions of smaller (33 and 22) matrices

 Five-bar 2-DOF Manipulator
Cut -
here 
2
2 a2
a2 2
2

a1 #1 1 a1 #1 1

1 1
2 1
a0 1 2 a0

Base, #0 Base, #0
Subsystem equations
I I θ I  CI θ I  τ I  ( τ  ) I : 2 eqs., 3 (1, x, y)? [2R done]
I II θII  CII θII  τ II  (τ  ) II : 2 eqs., 1 (2 )? [2R done]

Symmetric; Need to combine: 4 eqs., 4 (1, 2, x, y)?

 Subsystem Recursion for 5-bar

- 2
2 a2
a2 2
Cut 2
here
a1 #1 1  a1 #1 1

1 2 1
2 a0 1 1
a0

Base, #0 Base, #0
Subsystem equations
I I θ I  CI θ I  τ I  ( τ  ) I : 3 eqs., 3 (1, x, y)? [3R done]
I II θII  CII θII  τ II  (τ  ) II : 1 eq., 1 (2 )? [1R done]

No need to combine: Solved

Inverse Dynamics (w/o Gravity)
Link lengths: 1 m; Mass of links: 6 kg

1 f  1i T 2 t
1  1i  [t  sin( )]
T 2 T
Inverse Dynamics (w/Gravity)
 Two-DOF Parallel Manipulator
P

 Kinematic constraints
Cut here
l1  l 2  a0  0
O3
r3 Link bi θi ai αi
r2
(m) (m) (m) (m)
C3
C2 1 0 1 0 /2
l1 #2 #3
l2 2 b2 [JV] 0 0 0
c12 c43
O4
F3 Link mi ri,x, ri,y ri,z Ii,xx, Ii,yy
O2 F
2
C4 (kg) (m) (kg-m2)
C1
d1 #1 d4 1,2 655 0 .625 399
#4 x2
θ1
O1 ao O5 Sliding velocity (constant): 0.1 m/sec.
#0
Two RP serial manipulators; Combined: 4 eqs., 4 (f1, f2, x, y)?
 Three-DOF RRR Parallel Robot

Subsystem I: 5 eqs., 5 (D1, 2x, 2y, 7x, 7y )?

Subsystem II: 1 eq.. 1 (D2)?
Subsystem III: 1 eq.. 1 (D3)?
Inverse Dynamics of 3-DOF RRR Robot
Driving Torques (w/o gravity)
Driving Torques (w/gravity)
Six-DOF Parallel Robot:
Stewart Platform
 Moving platform
fλ

Cut joint
O6 O4
r3
Dimensionless #5
links O5
C3
#4
d3 #3
O4  
0  e T
1 a 14
 c23
   T  λ
#3 N I (w I  w I ) = 0  f I + e 2 a 14  f I
T * g
fI
1   T  O3
f I* e3  d23
O3 A1I
f1 A2I C2
#2 Subsystem I (3-DOF) d2
#2
O2 3 eqs.; 4 (x, y, x, f1)?
O2
#1 C1 #1
O1 O1

One particular limb #0

 FBD of VII Subsystem
-fVλ -fIVλ
Subsystem VII (6-DOF)
6 eqs.; Zero?
pp5 p •
p4
pp6 I VII ω+ ω× I cVII ω = ncVII
c

-fVI λ pp3 -fIIIλ •

pp1 pp2 c
m VII c = f VII
 fIλ 
-fIλ -fIIλ  
ncVII = p p1  1 p p6  1  
f VIλ 
 
f VIIc = fIλ   fVIλ
;

Inverse Dynamics Algorithm ;

 c 6

n VII   xi  s1  p  fI 
s 6  p p6   
 i 1
 p1
 
 c 6
  s1 s6   f 
f VII   y i   VI 
 i 1  J:66
τ:61
h:61

1
τJ h
Ref: Sadana, M., 2009, Dynamic Analysis of 6-DOF Motion
Platform, M. Tech Project Report, IIT Delhi
 Using GUI

Trajectory and
actuating force
 More Robots using ReDySim
Planar biped

Waking leg (also used

as carpet scrapping
mechanism)
 Legged Robots

Spatial biped

Spatial
quadruped
 Flexible Rope using ReDySim

0 Base

M1

Mi Torsion
spring

Detail of the
module Mi

Ms
 Conclusions
• Purpose of Recursive Robot Dynamics
– Efficiency
– Numerical stability
• DeNOC matrices for serial-chain
• NE to EL derivations
• Constrained equations of motion for serial-chain systems
• Schemes for Inverse and Forward Dynamics (Simulation)
• RoboAnalyzer software for robot dynamics
• Parallel robot application
• Four-bar mechanism from FBD
• Cut-open system and subsystem recursion
• ReDySim software
• Five-bar, 3-DOF RRR, Stewart platform dynamics
• Custom-made GUI for Stewart platform
• Simulation of walking robots and rope using ReDySim
 Acknowledgements
• Mr. Majid Koul
• Mr. Rajivlochana C.G.
• Dr. Suril V. Shah
• Mr. Mukesh Sadana
• Dr. Himanshu Chaudhary
• Students of IIT Delhi and other institutes who
used the materials mentioned in the lectures
and given feedbacks.
 Thank you
For comments/questions:

saha@mech.iitd.ac.in
http://web.iitd.ac.in/~saha