RMan - Dynamics - Control

Robótica de Manipulação
Dynamics and Control
Jorge M. M. Martins
Professor Auxiliar
Departamento de Engenharia Mecânica KUKA Robocoaster

Área Científica de Controlo, Automação e Informática www.kuka-entertainment.com
Industrial
DEM
Controlo, Automação e
Informática Industrial
Lagrange Formulation
Formulate the full manipulator Lagrangian and apply the Lagrange equations:
DEM Robótica de Manipulação

Controlo, Automação e Informática Industrial 2 Prof. Jorge M. M. Martins
Computation of Link Kinetic Energy
All vectors are expressed in the base frame
Inertia tensor relative to the

center of mass, expressed in the
base frame
Center of Mass of Link i:

Computation of Link Kinetic Energy as a function of the joint coordinates
Jacobean computation as for

differential kinematics
where

Computation of Motor Kinetic Energy
All vectors are expressed in the base frame
Gear Reduction Ratio:
Only the rotor is considered for this computation, stator is included in link

Computation of Motor Kinetic Energy as a function of the joint coordinates
Jacobian computation as for

differential kinematics

Computation of Link+Motor Kinetic Energy
B(q) – Inertia matrix:

- Symmetric
- Positive definite
- In general configuration dependent

Computation of Link+Motor Potential Energy
The potential energy depends only on the joint

positions and not on the joint velocities.

Computation of the Equations of Motion

Equations of Motion
The contribution of joint Coulomb and viscous friction, as well as of the forces
and moments applied on the environment can be simply added resulting:
Joint space dynamic model

Computation of Motor Kinetic Energy as a function of the joint coordinates

Equations of Motion
Joint space dynamic model
Christoffel symbols:

Newton-Euler Formulation
The Newton–Euler formulation is based on a balance of all the forces acting on the generic
link of the manipulator. This leads to a set of equations whose structure allows a
recursive type of solution:
1.a forward recursion is performed for propagating link velocities and accelerations,
2.followed by a backward recursion for propagating forces, and calculating the joint
torques.

Consider a generic augmented Link i (Link i plus motor i+1). Ci represents the center
of mass of the augmented link.
Velocities
Forces

Initially, all the vectors and matrices are assumed to be expressed with
reference to the base frame
Newton Equation for Translational Motion
Euler Equation for Rotational Motion

Resulting:

Newton Equation for Translational Motion
Generalized forces

Spatially recursive expressions for velocities and accelerations:
Velocities
Accelerations

referred to
Link i current
frame

Bug on the textbook referred to Link i current frame

Recursive algorithm in the link reference frames
Forward recursion Backward recursion
Inputs to
Outputs
the
algorithm

Example:
Initial
conditions
Terminal
conditions

Forward recursion on Link 1:

Forward recursion on Link 2:

Backward recursion on Link 2:

Backward recursion on Link 1:

Lagrange Formulation vs. Newton-Euler Formulation
The Lagrange formulation has the following advantages:
• It is systematic and of immediate comprehension.

• It provides the equations of motion in a compact analytical form containing the
inertia matrix, the matrix in the centrifugal and Coriolis forces, and the vector of
gravitational forces. Such a form is advantageous for control design.
• It is effective if it is wished to include more complex mechanical effects such as
flexible link deformation.
The Newton–Euler formulation has the following fundamental advantage:
• It is an inherently recursive method that is computationally efficient.

Direct Dynamics and Inverse Dynamics
Solving the direct dynamics problem is useful for manipulator simulation.
Direct dynamics allows the motion of the real physical system to be described
in terms of the joint accelerations, when a set of assigned joint torques is applied to
the manipulator.
Solving the inverse dynamics problem is useful for manipulator trajectory planning
and control algorithm implementation.
Once a joint trajectory is specified in terms of positions, velocities and accelerations

(typically as a result of an inverse kinematics procedure), and if the end-effector
forces are known, inverse dynamics allows computation of the torques to be applied
to the joints to obtain the desired motion.

Joint Actuating System
In general it consists of:

• a power supply
• a power amplifier
• a servomotor
• a transmission
Block scheme of an electric drive

Motor Electrical Motor
Dynamics Mechanical
Ref. Voltage Dynamics
Current Power
control system Amplifier

Reduced order models:
Without current control (ki = 0,

Ci(s)= 1)
(velocity-controlled generator)
With effective current control (ki ≠ 0, |Ci(s)|

>> 1)
(torque-controlled generator)

Position Control:

Position Control:
To improve the transient response, the industrial drives employed for

position servoing may also include a local feedback loop based on the angular
velocity measurement (tachometer feedback)

Robot Control
Joint Space Control vs. Operational Space Control

Joint Space Control
Kt is the diagonal matrix of torque constants and ia is the vector of armature

currents of the n motors; va is the vector of armature voltages, Ra is the diagonal
matrix of armature resistances, and Kv is the diagonal matrix of voltage constants
of the n motors; in (8.6), Gv is the diagonal matrix of gains of the n amplifiers and
vc is the vector of control voltages of the n servomotors.

Decentralized Control
The simplest control strategy that can be thought of is one that regards the
manipulator as formed by n independent systems (the n joints) and controls each
joint axis as a single-input/single-output system. Coupling effects between joints
due to varying configurations during motion are treated as disturbance inputs.



Independent Joint Control
An effective rejection of the disturbance d on the output ϑm is ensured by:

• a large value of the amplifier gain before the point of intervention of the
disturbance,
• the presence of an integral action in the controller so as to cancel the effect of
the gravitational component on the output at steady state (constant ϑm).
These requisites clearly suggest the use of a proportional-integral (PI) control
action in the forward path
To improve dynamic performance, it is worth choosing the controller as a cascade

of elementary actions with local feedback loops closed around the disturbance.
The inmost controller should be of PI type so as to obtain zero error at steady
state for a constant disturbance like gravity.

Position feedback

Position feedback
disturbance
rejection factor
However, it is not advisable to increase KP too

much, because small damping ratios would
result leading to unacceptable oscillations of
the output.

Position and velocity feedback

Position and velocity feedback
disturbance
rejection factor

Centralized Control
When large operational speeds are required or direct-drive actuation is employed

the nonlinear coupling terms strongly influence system performance.
In these cases considering the effects of the components of d as a disturbance

may generate large tracking errors.
Therefore it is advisable to design control algorithms that take advantage of a

detailed knowledge of manipulator dynamics so as to compensate for the
nonlinear coupling terms of the model.
The control problem fits into the context of nonlinear multivariable systems. This
approach accounts for the manipulator dynamic model and leads to finding
nonlinear centralized control laws towards high manipulator dynamic
performance.

PD Control with Gravity Compensation
It is desired to find the structure of the controller which ensures global

asymptotic stability of a constant equilibrium posture that is assigned to the
robot.
Using Lyapunov direct method the following is the Lyapunov function candidate:


System dynamics under control
At the equilibrium
This implies that any manipulator equilibrium posture is globally

asymptotically stable under a controller with a PD linear action and a
nonlinear gravity compensating action

Inverse Dynamics Control
The problem is that of tracking a joint space trajectory
System dynamics
Linearizing control action
Leading to the linear and decoupled system

dynamics
This linearizing controller is possible because
the dynamics is linear in the control input u and
has a full-rank matrix B(q)

The manipulator control problem is reduced to that of finding a

stabilizing control law y. Let:
The system dynamics becomes
By choosing
and
The tracking error dynamics is:

Linearized System


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Robótica de Manipulação

Dynamics and Control

Departamento de Engenharia Mecânica KUKA Robocoaster

DEM Robótica de Manipulação

All vectors are expressed in the base frame

Inertia tensor relative to the

Center of Mass of Link i:

DEM Robótica de Manipulação

Jacobean computation as for

DEM Robótica de Manipulação

All vectors are expressed in the base frame

Gear Reduction Ratio:

DEM Robótica de Manipulação

Jacobian computation as for

DEM Robótica de Manipulação

B(q) – Inertia matrix:

DEM Robótica de Manipulação

The potential energy depends only on the joint

DEM Robótica de Manipulação

DEM Robótica de Manipulação

Joint space dynamic model

DEM Robótica de Manipulação

DEM Robótica de Manipulação

Joint space dynamic model

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

Euler Equation for Rotational Motion

DEM Robótica de Manipulação

Euler Equation for Rotational Motion

DEM Robótica de Manipulação

Newton Equation for Translational Motion

Euler Equation for Rotational Motion

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

Bug on the textbook referred to Link i current frame

Forward recursion Backward recursion

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

DEM Robótica de Manipulação

The Lagrange formulation has the following advantages:

• It is systematic and of immediate comprehension.

The Newton–Euler formulation has the following fundamental advantage:

• It is an inherently recursive method that is computationally efficient.

DEM Robótica de Manipulação

Direct Dynamics and Inverse Dynamics

Solving the direct dynamics problem is useful for manipulator simulation.

Once a joint trajectory is specified in terms of positions, velocities and accelerations

DEM Robótica de Manipulação

In general it consists of:

Block scheme of an electric drive

DEM Robótica de Manipulação

Joint Actuating System

Reduced order models:

Without current control (ki = 0,

With effective current control (ki ≠ 0, |Ci(s)|

DEM Robótica de Manipulação

DEM Robótica de Manipulação