Robot Arm Dynamics

D H notation MATRIX
RP Arm forward kinematics
Frame assignment
RRR arm
Inverse Kinematics
• Forward kinematics generalised results as
Robot Work space
Reachable work space
Multiple Solutions
Redundant Manipulator
Contents
• Introduction
• Applications (Robocon projects)
• Lagrange Euler Formulation
• Dynamic model of One DoF manipulator
• Dynamic model of Two DoF Manipulator
• General LE formulation algorithm
• MATLAB programme - Simulation
Introduction
Kinematics
• Studies the motion without regard for the cause of motion and its effect
• Needs information of system architecture i.e. links, link lengths, link
twisting etc.
• Provides information for position, velocity and acceleration

Dynamics
• Studies the cause of motion and its effect
• Needs information of motions like position, velocity, acceleration etc.
• Provides information for force and torque
Introduction
• Kinematics of Robotic Arm
• Relation between the Joint variables and End effector
positions
• Forward
Joint End
• Inverse
variable effector
s positions
Introduction
• Equation of Motion (EOM)
• Relationship between joint actuator torques and End
motion of links
Joint
actuato effector
• Used for
r forces motion
• Simulation (Forward)
• Design of control algorithm (Inverse)

Lagrange-Euler Newton-Euler

Lagrange Mechanics Newtonian mechanics

Energy Based Force balance

Lagrange Mechanics

• L = Scalar function called Lagrangian Function

• K = Total kinetic energy of the manipulator
• P = Total potential energy of the manipulator
• Equation of Motion (Dynamic Model)
• for i=1, 2, 3, … n

• q = Generalized coordinates
 x
One DoF linear System f m

• Equation of Motion

•  Newton’s Law
One
Y1
DoF Manipulator – Dynamic Model

m1 • Equation of Motion
(x1,y1)

θ •

X1 •
Y1
Two DoF Manipulator – Dynamic Model
• Kinetic Energy
(x2,y2) X2
g m2

θ2
• Potential Energy
• and
m1
• Lagrangian Function
(x1,y1)
θ1
X1
 ()
1 1 2˙ 2 1 2 ˙ 2 ˙ 2 ˙ ˙ 1 ˙ 2 ˙ ˙ 1 1
()
𝐿= 𝑚1+𝑚2 𝑙1 𝜃1 + 𝑚2𝑙2 (𝜃1 +𝜃2 +2𝜃1𝜃2)+ 𝑚2𝑙1𝑙2𝐶2(𝜃1 +𝜃1𝜃2)− 𝑚1+𝑚2 𝑔𝑙1𝑆1− 𝑚2𝑔𝑙2𝑆12
23 6 2 2 2
Two DoF Manipulator – Dynamic Model
• and

Mii = effective inertia

Mij = effective coupling inertia
Hi = centrifugal and Coriolis acceleration force
Gi = gravity
 Generalized EOM using LE formulation for n
DOF manipulator
𝑛 𝑖 𝑖 𝑛
1
2 𝑖=1 𝑗=1 𝑘=1
𝑗 −1 0
[
𝐿= ∑ ∑ ∑ 𝑇𝑟 (❑𝑇 𝑗−1 𝑄 𝑗 ❑𝑇 𝑖 ) 𝐼 𝑖 ( ❑𝑇 𝑘−1 𝑄 𝑘 ❑𝑇 𝑖 ) 𝑞˙ 𝑗 𝑞˙ 𝑗 + ∑ 𝑚𝑖 𝑔 ¿0𝑇 𝑖 ❑𝑟 𝑖
0 𝑘− 1 𝑇

𝑖=1
𝑖
]
𝑛 𝑛 𝑛
𝜏 𝑖= ∑ 𝑀 𝑖𝑗 (𝑞) 𝑞¨ 𝑗 + ∑ ∑ h𝑖𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘+𝐺𝑖
𝑗=1 𝑗=1 𝑘=1

[ ]
𝑛 𝑛
𝑛
𝜕 ( 𝑑𝑝𝑘 )
∑ 𝑇𝑟 [ 𝑑 𝑝𝑗 𝐼 𝑝 𝑑𝑝𝑖 ] h𝑖𝑗𝑘 = ∑ 𝐺𝑖 =− ∑ 𝑚𝑝 𝑔 𝑑 𝑝𝑖 ❑𝑟 𝑝
𝑇 𝑇 𝑝
𝑀 𝑖𝑗= 𝑇𝑟 𝐼 𝑝 𝑑 𝑝𝑖
𝑝=m ax ⁡(𝑖 , 𝑗) 𝑝=m ax ⁡( 𝑖, 𝑗 ,𝑘 ) 𝜕 𝑑𝑝 𝑝=𝑖

{
0 𝑗 −1 𝑘− 1
𝜕 𝑑 𝑖𝑗 𝑇 𝑗 − 1 𝑄 𝑗 ❑𝑇 𝑘 −1 𝑄𝑘 ❑ 𝑇 𝑖 𝑓𝑜𝑟 𝑖 ≥ 𝑘 ≥𝑖
❑
= 𝑇 𝑄 𝑘 −1𝑇 𝑄 𝑗 − 1𝑇 𝑓𝑜𝑟 𝑖 ≥ 𝑗 ≥ 𝑘
0
𝜕 𝑞𝑘 𝑘− 1❑ 𝑘 ❑ 𝑗− 1 𝑗 ❑ 𝑖
0 𝑓𝑜𝑟 𝑖 ≥ 𝑘≥ 𝑖
RoboAnalyzer – Visualization
Matlab programme