CH 06

CHAPTER SIX
DYNAMIC ANALYSIS AND FORCES
Introduction to Robotics: Analysis, Control,

Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Introduction to Robotics: Analysis, Control, Applications, Third Edition.
Saeed B. Niku.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.
This solution manual may not be copied, posted, made available to students,
placed on any outlet, any other electronic media system, and the Internet
without prior expressed consent of the copyright owner.
This material may not be used except in conjunction with the “Introduction to
Robotics: Analysis, Control, Applications”

Introduction
 Analysis of forces, torques, inertias, loads, and

accelerations.
 Derivation of dynamic equations of motion.
 Allows determination of important loads for design.
 Assists in the selection of actuators.

Newtonian Mechanics
 Easier for simpler systems.

 Familiar to users
F  ma and T  I  
T F I 
= ma

Lagrangian Mechanics
 Easier for more complicated systems

 Based on system’s energies
 Systematic
 Lagrangian is the difference between kinetic and potential
energies of the system:
L K P

Lagrangian Relationships
 Lagrangian relationships are:
  L  L
Fi   
t  x i  xi
  L  L
Ti    
t  i  i

Lagrangian mechanics
 Please see examples in the book for the application of Lagrangian

mechanics. For the following system we can derive equations of
motion as:
1 1 
2 2
 T   m1l1  m2l2  m2 r
2
0     0 0   2   m2 r m2 r   r 
F    3 12  
  r   m2 r 0   r 2   0  
0   r 
  0 m2 

 l1  
 
m1 g  m2 gr  C 
2   F

 m2 gS 
r
I2
l 2, D
T1
C m2
y0 I1
l 1, B
A m1 1
x0

Effective Moments of Inertia
 The equations of motion can be written in matrix form as:
 Ti   Dii Dij  i   Diii Dijj  i 2   Diij Diji  i j   Di 

T    D D       D D    2   D D       D 
 j   ji jj  
 j   jii jjj  
 j   jij  j i   j 
jji  
 Dii is effective inertia at joint i, such that an acceleration at joint i causes a
torque at joint i equal to . Diii
 A coefficient in the form Dij is known as coupling inertia between joints i
and j as an acceleration at joint i or j causes a torque at joint j or i equal to
. D  or D 
ij j ji i
Dijj j2 terms represent centripetal forces acting at joint i due to a velocity at


joint j.
 All terms with represent Coriolis accelerations, and when multiplied
12
by corresponding inertias, represent Coriolis forces.
 The remaining terms in the form Di represent gravity forces at joint i.
Dynamic Equations for Multiple-DOF Robots
 We will discuss:
 Kinetic energy
 Potential energy
 Lagrangian
 Derivation
 Observations

Kinetic Energy
 For a 3-D system,


 hG vG
G
G
1 1
K  mvG  I  2
2
2 2
 We need the moments of inertia and velocity expressions

at the center of mass G on each link.
Kinetic Energy: Cont.
 Velocity of a point on a robot’s link can be defined by differentiating

the position equation of the point, expressed by a frame relative to the
robot’s base.
 We use the D-H transformation matrices Ai to find the velocity terms.
R
TH  RT1 1T2 2T3 ... n 1Tn  A1 A2 A3 ... An
 The derivative of an A matrix is:
C i  S i C i S i S i ai C i    S i C i C i C i Si  ai Si 

Ai

 S i C i C i C i S i ai S i   C i  S i C i S i Si ai Ci 
   
 i  i  0 S i C i di   0 0 0 0 
   
 0 0 0 1   0 0 0 0 

 This matrix can be broken into a constant matrix

Qi and the Ai matrix such that
  S i C i C i C i S i  ai S i 
 0 1 0 0  C i  S iC i S i S i a iC i 
 C  S i C i S i S i aiC i   1 0 0 0   S i C iC i C iS i a iS i 
 i   
 0 0 0 0  0 0 0 0  0 S i C i di 
     
 0 0 0 0  0 0 0 0  0 0 0 1 
Ai
 Qi Ai
 or  i
 The Q matrix is a constant, non-changing matrix.
 The same can be done for a prismatic joint:

C i  S i C i S i S i ai C i  0 0 0 0
Ai

 S i C i C i C i S i ai S i  0 0 0 0
   
d i d i  0 S i C i d i  0 0 0 1
   
 0 0 0 1  0 0 0 0
0 0 0 0 0 0 0 0  C i  S i C i S i S i ai C i 
0 0 0 0 0 0 0 0   S i C i C i C i S i ai S i 
   
0 0 0 1  0 0 0 1  0 S i C i di 
     
0 0 0 0 0 0 0 0  0 0 0 1 
Ai
 Qi Ai
 i
 Extending the same to the 0Ti matrix with multiple joint

variables (i and di), differentiated with respect to only one
variable qj results in
 0Ti  ( A1 A2 .. A j .. Ai )
U ij    A1 A2 ..Q j Aj .. Ai ji
q j q j
 Higher order derivatives can be formulated as:

U ijk  U ij qk
 The position of a point on a link is:

pi  RTi ri  0Ti ri
 The velocity of a point on a link is:
i  
d 0  ( 0Ti ) dq j i
dqi
vi  ( Ti ri )     ri   (U ij )  ri
dt 
j 1  q j dt dt
 j 1
 The kinetic energy of an element of mass is:

1 2
dK i  ( x i  y i2  z i2 ) dm
2
 Since vi has three components of x i , y i , z i , it can be written

as a 3X3 matrix:
 x i   x i 2 x i y i x i z i 
 
vi viT   y i   x i y i z i    y i x i y i 2 y i z i 
 z i   z i x i z i y i z i 2 

 or
 x i 2 x i y i x i z i 
 
Trace (vi viT )  Trace  y i x i y i 2 y i z i   x i 2  y i 2  z i 2
 z i x i z i y i z i 2 

 Combine these to get:
1  i dq p  i dqr  
T
dK i  Trace   (U ip )  ri    (U ir )  ri   dmi
2  p 1 dt   r 1 dt  
 Integrate to get:
1  i i 
K i   dK i  Trace   U ip (  ri ri dmi )U ir q p q r 
T T
2  p 1 r 1 

 For moments of inertia, write ri in terms of its coordinates

relative to its frame:
 xi   xi 2 xi yi xi zi xi 
y   
xy yi 2 yi zi yi 
ri   i  and riT   xi yi zi 1 and ri riT   i i
 zi   xi zi yi zi zi 2 zi 
   
1  xi yi zi 1 
 Therefore:
 xi 2 dmi
 xi    x y dm  x z dm  x dm 
i i i i i i i i
 xi yi dmi
y 
  y dm  y z dm  y dm 
2
i i i i i i i
 i i i  zi   xi
r r T
dm   i
yi zi 1  dmi  
 x z dm
 i i i  y z dm  z dm  z dm 
2
i i i i i i i
 
1  x dm 
  i i  y dm  z dm  dm 
i i i i i

 Since:
1 1 1 1
 dm     
2 2 2 2 2 2 2
x ( y  z ) dm  ( x  z ) dm  ( x  y ) dm = ( I xx  I yy  I zz )
2 2 2 2
1 1 1 1
 2 2 2
2 2 2 2 2 2 2
y dm  ( y  z ) dm  ( x  z ) dm  ( x  y ) dm = ( I xx  I yy  I zz )
2
1 1 1 1
   
2 2 2 2 2 2 2
z dm  ( y  z ) dm  ( x  z ) dm  ( x  y ) dm = ( I xx  I yy  I zz )
2 2 2 2
 Therefore:
1 
 2 ( I xx  I yy  I zz )i I ixy I ixz mi xi 
 
 1
I ixy ( I xx  I yy  I zz )i I iyz mi yi 
Ji   2 
 1 
 I ixz I iyz ( I xx  I yy  I zz )i mi zi 
 2 
 mi xi mi yi mi zi mi 

 Combining the above and adding actuator inertia and

kinetic energies we find the total kinetic energy to be:
1 n i i
1 n
K
2

i 1 p 1 r 1
Trace (U J U
ip i ir
T
) 
q 
q
p r 
2

i 1
I 
q
i ( act ) i
2

Potential Energy
 Potential energy of all the components together is:

n n
P   Pi   [ mi g T  ( 0Ti ri )]
i 1 i 1
T
 where   g x
g gy gz 0  is the gravity matrix and
ri is the location of the center of mass of a link relative to
the frame representing the link

Lagrangian
 The Lagrangian is:
1 n i i n n
 Trace(U ip J iU ir )q p q r  1  i (act ) i  i

T 2
L K P  I 
q  [  m g T
 ( 0
Ti ri )]
2 i 1 p 1 r 1
2 i 1 i 1

Equations of Motion
 Robot’s equations of motion are found by differentiating

the Lagrangian as discussed, resulting in:
n n n
Ti   Dij q j  I i ( act ) qi   Dijk q j q k  Di
j 1 j 1 k 1
n
Dij  
p  max( i , j )
Trace(U pj J pU Tpi )
n
Dijk  
p  max( i , j , k )
Trace(U pjk J pU Tpi )
n
Di   m p g T U pi rp
p i
Equations of Motion: Cont.
 This translates into the following:

Ti  Di11  Di 22  Di 33  Di 44  Di 55  Di 66  Ii ( act )i
 D  2  D  2  D  2  D  2  D  2  D  2
i11 1 i 22 2 i 33 3 i 44 4 i 55 5 i 66 6
 Di1212  Di1313  Di1414  Di1515  Di1616

 D    D    D    D    D  
i 21 2 1 i 23 2 3 i 24 2 4 i 25 2 5 i 26 2 6
 Di 3131  Di 3232  Di 3434  Di 3535  Di 3636

 D    D    D    D    D  
i 41 4 1 i 42 4 2 i 43 4 3 i 45 4 5 i 46 4 6
 Di 5151  Di 5252  Di 5353  Di 5454  Di 5656

 Di 6161  Di 6262  Di 6363  Di 6464  Di 6565  Di

 Each inertia terms must be calculated based on the

previous discussion.
 Substituting the proper joint values into this equation
yields the following equations for each joint:
T1  D111  D122  D133  D144  D155  D166  I1( act )1

 D11112  D12222  D13332  D14442  D15552  D16662
 2 D11212  2 D11313  2 D11414  2 D11515  2 D11616
 2 D    2 D    2 D    2 D    2 D  
123 2 3 124 2 4 125 2 5 126 2 6 134 3 4
 2 D13535  2 D13636  2 D14545  2 D14646  2 D1565 6  D1


T2  D211  D222  D233  D244  D255  D266  I2( act )2
 D21112  D22222  D23332  D24442  D25552  D26662
 2 D21212  2 D21313  2 D21414  2 D21515  2 D21616
 2 D    2 D    2 D    2 D    2 D  
223 2 3 224 2 4 225 2 5 226 2 6 234 3 4
 2 D23535  2 D23636  2 D24545  2 D24646  2 D25656  D2
T3  D311  D322  D333  D344  D355  D366  I 3( act )3

 D31112  D32222  D33332  D34442  D35552  D36662
 2 D31212  2 D31313  2 D31414  2 D31515  2 D31616
 2 D    2 D    2 D    2 D    2 D  
323 2 3 324 2 4 325 2 5 326 2 6 334 3 4
 2 D33535  2 D33636  2 D34545  2 D346 46  2 D35656  D3

T4  D411  D422  D433  D444  D455  D466  I 4( act )4
 D  2  D  2  D  2  D  2  D  2  D  2
411 1 422 2 433 3 444 4 455 5 466 6
 2 D41212  2 D41313  2 D41414  2 D41515  2 D41616

 2 D    2 D    2 D    2 D    2 D  
423 2 3 424 2 4 425 2 5 426 2 6 434 3 4
 2 D43535  2 D43636  2 D44545  2 D44646  2 D45656  D4
T5  D511  D522  D533  D544  D555  D566  I5( act )5

 D  2  D  2  D  2  D  2  D  2  D  2
511 1 522 2 533 3 544 4 555 5 566 6
 2 D51212  2 D51313  2 D51414  2 D51515  2 D51616

 2 D    2 D    2 D    2 D    2 D  
523 2 3 524 2 4 525 2 5 526 2 6 534 3 4
 2 D53535  2 D53636  2 D54545  2 D54646  2 D55656  D5
T6  D611  D622  D633  D644  D655  D666  I 6( act )6

 D61112  D62222  D63332  D644 42  D65552  D666 62
 2 D61212  2 D61313  2 D61414  2 D61515  2 D6161 6
 2 D    2 D    2 D    2 D    2 D  
623 2 3 624 2 4 625 2 5 626 2 6 634 3 4
 2 D63535  2 D63636  2 D645 45  2 D646 4 6  2 D6565 6  D6

Interpretation of Equations of Motion
 Too involved and complicated.

 Depending on the situation, some terms may be ignored or
eliminated.
 If low velocity, Coriolis and centripetal terms may be
ignored.
 In space and underwater applications, gravity terms may
be ignored.
 These can be used to design and select actuators too.

Static Force Analysis of Robots
 Assume F is the forces at the end effector, D is the

displacements at the end effector, T is the toques (and
forces) at the joints, and D is the displacements at the
joints:
T
 F    f x
H
fy fz mx my mz 
 H D   dx dy dz  x  y  z 
T
T   T1 T2 T3 T4 T5 T6 
T
 D   d1 d 6 
T
d 2 d 3 d 4 d 5

Static Force Analysis of Robots: Cont.
 Using the principle of virtual work we get:

T
 W   H F   H D   T   D 
T
 fx fy fz mx my mz   dx 
 dy 
 
 dz 
   f x dx  f y dy    mz z
 x 
 y 
 
 z 

 In Chapter 3 we saw that:
 T6 D    T6 J   D  or  H D    H J   D 
Then:
T T
 F   J   D   T   D    F   H J   T 
H H T H T

 This can be written as:

T
T    J   F 
 H
  H
 Therefore, the torques and forces necessary at the joints to

produce the desired forces and torques at the end effector
can be calculated.

Collaborative and cooperative robots
 The discussion above can also be used in the

control of these robots.
 The robot can “sense” the resistive forces exerted
on it by a human or another robot and either
respond to it (e.g. stopping), or adjusting the
forces and torques at the joints to not exceed
preset values to avoid injuries to humans or
damages to other robots, parts, or itself .


CH 06

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CH 06

Uploaded by

Copyright:

Available Formats

CHAPTER SIX

DYNAMIC ANALYSIS AND FORCES

Introduction to Robotics: Analysis, Control,

Introduction to Robotics: Analysis, Control,

 Analysis of forces, torques, inertias, loads, and

Introduction to Robotics: Analysis, Control,

 Easier for simpler systems.

Introduction to Robotics: Analysis, Control,

 Easier for more complicated systems

Introduction to Robotics: Analysis, Control,

 Lagrangian relationships are:

Introduction to Robotics: Analysis, Control,

 Please see examples in the book for the application of Lagrangian

Introduction to Robotics: Analysis, Control,

 Ti   Dii Dij  i   Diii Dijj  i 2   Diij Diji  i j   Di 

Dijj j2 terms represent centripetal forces acting at joint i due to a velocity at

Introduction to Robotics: Analysis, Control,

 For a 3-D system,

 We need the moments of inertia and velocity expressions

 Velocity of a point on a robot’s link can be defined by differentiating

C i  S i C i S i S i ai C i    S i C i C i C i Si  ai Si 

Introduction to Robotics: Analysis, Control,

 This matrix can be broken into a constant matrix

 The same can be done for a prismatic joint:

 Extending the same to the 0Ti matrix with multiple joint

 Higher order derivatives can be formulated as:

 The position of a point on a link is:

 The kinetic energy of an element of mass is:

 Since vi has three components of x i , y i , z i , it can be written

 Combine these to get:

Introduction to Robotics: Analysis, Control,

 For moments of inertia, write ri in terms of its coordinates

Introduction to Robotics: Analysis, Control,

 Combining the above and adding actuator inertia and

Introduction to Robotics: Analysis, Control,

 Potential energy of all the components together is:

Introduction to Robotics: Analysis, Control,

 The Lagrangian is:

 Trace(U ip J iU ir )q p q r  1  i (act ) i  i

Introduction to Robotics: Analysis, Control,

 Robot’s equations of motion are found by differentiating

 This translates into the following:

 Di1212  Di1313  Di1414  Di1515  Di1616

 Di 3131  Di 3232  Di 3434  Di 3535  Di 3636

 Di 5151  Di 5252  Di 5353  Di 5454  Di 5656

Introduction to Robotics: Analysis, Control,

 Each inertia terms must be calculated based on the

T1  D111  D122  D133  D144  D155  D166  I1( act )1

 2 D13535  2 D13636  2 D14545  2 D14646  2 D1565 6  D1

Introduction to Robotics: Analysis, Control,

 2 D23535  2 D23636  2 D24545  2 D24646  2 D25656  D2

T3  D311  D322  D333  D344  D355  D366  I 3( act )3

 2 D33535  2 D33636  2 D34545  2 D346 46  2 D35656  D3

Introduction to Robotics: Analysis, Control,

 2 D41212  2 D41313  2 D41414  2 D41515  2 D41616

 2 D43535  2 D43636  2 D44545  2 D44646  2 D45656  D4

T5  D511  D522  D533  D544  D555  D566  I5( act )5

 2 D51212  2 D51313  2 D51414  2 D51515  2 D51616

 2 D53535  2 D53636  2 D54545  2 D54646  2 D55656  D5

T6  D611  D622  D633  D644  D655  D666  I 6( act )6

 2 D63535  2 D63636  2 D645 45  2 D646 4 6  2 D6565 6  D6

 Too involved and complicated.

Introduction to Robotics: Analysis, Control,