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• Chapter 6 of Introduction to Robotics – Mechanics and Control, J.J.
Craig (any edition).
Linear system :
·
Superposition property
Dynamics of linear systems vs. nonlinear systems
Write the dynamics of
f mjj
A point mass under no external force =
A free-swinging pendulum
m((8) + my sin = 0
+ sin0 = 0
in
.......
-- ---- to sino
my
Dj
↓
..
,
-
my
Two method for deriving a robot’s dynamics
Newton-Euler formulation
This is a “force-balance” approach which is iterative and is based on
Newton’s equation and Euler’s equation
Newton’s 2nd Law of Motion: F mi C
my
d
my d 1 my 2 d K
dt dt y 2 dt y
Right side:
mg mgy U
y y
Example: 1-DOF point mass system dynamics
So the first differential equation can be re-written as
d K U
f
dt y y
La
Therefore, if we make the following definition:
L K U
where L is called the Lagrangian, the equation of motion
for the 1-DOF point mass becomes (why?)
d L L
f O for this
dt y y .
·
by f &
by
+
Ou
by
=
F
U isn't function of
a if
The Lagrangian method for writing the dynamics of a
robot does the same thing backward.
Uci : linear velocity COM of link i
Lagrangian formulation · of
· "Wi :
angular velocity of linki as expressed in Ei
The equations of motion for an n-DOF system is
& Cis attached to link;
·
Imagine trace a
Known
Va = L,
0 ,
-
>
↑ ↳ Eas
not
-
Eis to-
T-
·
known
-
> ~ da sinO ,
Solution:
o
(08) 'w "I w = F+z
'w = = ,
, ,
Izz0
(8) n.
· =
wn = =
Example: RP manipulator dynamics
of o Oto
-
= +
↓ Equivalent
&
= T
Example: RP manipulator dynamics
E
-
⑩ D
T
M(0)8 v(0, 8) + G(0) =
( =)
+ -
(8)
Example: PR manipulator dynamics
Inertin tensor not given C 0
Exercise 6.16 of Craig: Derive the dynamics of this PR manipulator.
Figure 6.10
↓9 PR manipulator of
di
Exercise 6.16.
CEL
--
>
GE (O)
& ·
REMOKEE
0 u = 0
U 0
, Uz =
, =
)=
-
=
(smitmust
Example: PR manipulator dynamics
Example: PP manipulator dynamics
Consider the following planar manipulator, which consists of two links and two prismatic joints (the first
link moves up and down, and the second link moves left and right). Assume that the center of mass of
each link is somewhere on that link (exactly where on the link does not matter in this problem). Denote
the masses of the two links by m1 and m2, respectively, and denote the displacement of the two prismatic
joints (i.e., the linear travel of the two links) by q1 and q2, respectively.
O
Von =
q
-2
n
Constan
>
⑳-
=
v
-----,
Using the Lagrangian formulation, find the dynamics of the above robot. Note that an answer
provided through inspection without using the Lagrange’s formula is not enough. When using the
Lagrange’s method, you can assume that the ground level shown above is where the potential energy
is zero.
Example: PP manipulator dynamics
↳, = , Eme(q +)
m
2
=
U = .
g, 2 = M29( ,
+ Content) irrelevant
k = [( ,
+ mz)q2 + zm2q
U = (m , mz) 99
+ ,
- 00 00 + = 5
↓ ↓
((m the f i
,
,
jo (( ,
+mn)9)
Emmette
in
(i) (ts) () =
Example: Va
E
=ju +
9t >
(2)
Oz
di
knowledge of formary
Rinematics
T
x2
- yu
-- -
Coriolis & centrifugal Vector gravity vector
T ↑
T
m(0) v(0 , 8) G(0)
W
Innertial
matrix