Romansy

2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
ROMANSY 2010
Forward Dynamics of 3-DOF Parallel Robots:
a Comparison Among Dierent Models
Miguel Daz-Rodrguez, Vicente Mata,

Angel Valera,

Alvaro Page dmiguel@ula.ve

Udine, July 6, 2010
1/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
2/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
3/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics
0 2 4 6
-1000
-500
0
500
1000
Time [s]
F
o
rc
e
[N
]
8
= =
0 2 4 6
0.5
0.6
0.7
0.8
Time [s]
P
o
s
itio
n
[m
]
8
Embedded Formulation

i
= M

q
i
+

C +

G +
_

F
f
i
+X
T

F
f
d
_
+J
m

q
i
Solving for accelerations

q
i
= (M+J)
1
_

i


C

G
_

F
f
i
+X
T

F
f
d
__
4/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Purpose
Forward Dynamics
Important amount of research has been focused on
integrating the equations of motion (Negrut, 2003).
Dynamic parameters are dened in link gravity center or
non-centroidal reference system.
These formulations do not consider identied
parameters
5/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Purpose
Forward Dynamics
Important amount of research has been focused on
integrating the equations of motion (Negrut, 2003).
Dynamic parameters are dened in link gravity center or
non-centroidal reference system.
These formulations do not consider identied
parameters
5/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Purpose
Forward Dynamics
Important amount of research has been focused on
integrating the equations of motion (Negrut, 2003).
Dynamic parameters are dened in link gravity center or
non-centroidal reference system.
These formulations do not consider identied
parameters
5/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Purpose
Forward Dynamics
Important amount of research has been focused on
integrating the equations of motion (Negrut, 2003).
Dynamic parameters are dened in link gravity center or
non-centroidal reference system.
These formulations do not consider identied
parameters
In this Work
We write the forward dynamic model in terms of the
identied parameters.
5/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
6/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Identication in Short
0 2 4 6
0.5
0.6
0.7
0.8
Time [s]
P
o
s
itio
n
[m
]
8
= =
0 2 4 6
-1000
-500
0
500
1000
Time [s]
F
o
rc
e
[N
]
8
7/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Identication in Short
0 2 4 6
0.5
0.6
0.7
0.8
Time [s]
P
o
s
itio
n
[m
]
8
= =
0 2 4 6
-1000
-500
0
500
1000
Time [s]
F
o
rc
e
[N
]
8

Parametric Model (Newton-Euler,

Gibbs-Appell, Virtual Work)
= f
_
q,

q,

q,

_
7/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Identication in Short
0 2 4 6
0.5
0.6
0.7
0.8
Time [s]
P
o
s
itio
n
[m
]
8
= =
0 2 4 6
-1000
-500
0
500
1000
Time [s]
F
o
rc
e
[N
]
8

Parametric Model (Newton-Euler,

Gibbs-Appell, Virtual Work)
= f
_
q,

q,

q,

_
Reduced Model
Parameter that can be identied properly
7/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Dynamic Model: Rigid Body
Dynamics
Starting from Gibbs-Appell (Mata et., 2002),
k,rb =
n

i=1
_
i

T
i
i
IG
i

i
i
q
k
+
_

i
i
q
k
_
T
_
i
i
_
i
IG
i
i
i
_
_

i
rG
i
q
k
_
T
mi
i
rG
i
_
Parameter Linear Form:
Non centroidal frame.
a

b =a

b, A

b =b

A (Atkeson et., 1986).

Matrix form (Mata et., 2005),

a
rb
= K
a
_
q,

q,

q
_

rb
where

rb
contains [ Ixxi
Ixyi
Ixzi
Iyyi
Iyzi
Izzi
]
T
, mi
i
and
[ mxi myi mzi
]
T
.
8/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Dynamic Model: Rigid Body
Dynamics
Lagrange Multipliers

c
rb
= K
a
_
q,

q,

q
_

rb
+A(q)
T

Coordinated Partitioning (Wehage, 1982)

i = K
a
i

rb
+A
T
i

d
= K
a
d

rb
+A
T
d

Including Constrains
_
Ai A
b

_

qi

q
d
_
=

b
Dynamic Model for a Parallel Robot
i +X
T

d
=
_
K
a
i
+X
T
K
a
d
_

rb
whereX = A
1
d
Ai .
9/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Dynamic Model: Friction
Linear Model (Abdellatif et al., 2008, Nabat et al.
2006, Ranaud et al., 2006, Vivas et al. 2003, Farhat
et al., 2008)

fi
= (Fci
sign ( qi ) + Fvi
qi )

f
=
fi
+X
T

f
d
= K
f
_

q
_

f
Joint velocity
F
r
ic
t
io
n
F
o
r
c
e
Fc
Fv
Non linear Model (Olsson,1998)

fi
=
_
sign ( qi )
_
Fci
+
_
F
bi

Fci
) e
| qi / qi s
|
s
_
+ Fvi
qi
_

f
=
fi
+X
T

f
d
=

f
_

q,

f
_
Fc Fv
q
Joint velocity
F
r
ic
t
io
n
F
o
r
c
e
10/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
11/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics
Dynamic Model in linear parameter form

i
=
_
K
i
+X
T
K
d
_

q
i
= (M+J)
1
_

i


C

G
_

F
f
i
+X
T

F
f
d
__
Properties of each matrix.
Mass Matrix
M
inn

q
i
+M
dnmn

q
d
12/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics
Dynamic Model in linear parameter form

i
=
_
K
i
+X
T
K
d
_

q
i
= (M+J)
1
_

i


C

G
_

F
f
i
+X
T

F
f
d
__
Input:

q = 0, g = 0,

q
d
= 0
for i=1:n do

q
i
(1 : n) = 0 ;

q
i
(i) = 1 ;
M
i
(1 : 3, i) =
_
K
i
+X
T
K
d
_

;
end
Input:

q = 0, g = 0,

q
i
= 0;
for i=1:m-n do

q
d
(1 : m n) = 0 ;

q
d
(i) = 1 ;
M
d
(1 : 3, i) =
_
K
i
+X
T
K
d
_

;
end
12/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics
Dynamic Model in linear parameter form

i
=
_
K
i
+X
T
K
d
_

q
i
= (M+J)
1
_

i


C

G
_

F
f
i
+X
T

F
f
d
__
Generalized Dependent Coordinates

q
d
= A
1
d

b X

q
i
M
inn

q
i
+M
dnmn

q
d
= M
i

q
i
+M
d
_
A
1
d

b X

q
i
_
M= M
i
M
d
X
12/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics
Velocity Vector
Input: g = 0,

q = 0

C
d
(1 : n, 1) = M
d
A
1
d

b ;

C
i
(1 : n, 1) =
_
K
i
+X
T
K
d
_

;

C =

C
i
+

C
d
;
Gravity Vector
Input:

q = 0,

q = 0

G(1 : n, 1) =
_
K
i
+X
T
K
d
_

;
13/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
14/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Models used for Comparison
In this paper we used two
identied models:
Model 1: Built using multibody
dynamics formulations.
Model 2: Reduced Model based
on Relevant Parameters
(Daz-Rodrguez, et al 2010)
Parameter from a CAD
model:
Model 3: Rigid Body Parameter
from CAD Model, friction
parameters from experiments)
Dynamic
Model
Design of
Experiments
Characterization and
Simplication
Identication
WLS
Procedure 1
Feasible solution
Validation

Reduction
15/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Dynamics of 1T2R parallel robots
Table: Number of parameters of
the 3-PRS robot.
Model Rigid Body Friction Active elements
1 and 3 19 6 3
2 4 6 3
Table: Number of parameters of
the 3-RPS robot.
Model Rigid Body Friction Actives Elements
1 and 3 25 6 3
2 3 6 3
16/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Solving the forward dynamics
Equations built in Maple
Switch Algorithm (Farhat et al, 2009)
Numerical integration: Matlab (ode45)
Applied Forces measured from experiments
17/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Results: 3-PRS Robot
Table: Relative Absolute Errors (3-PRS parallel robot).
(q) (

q) ()
CAD + Friction 53.37 25.49 20.20
Full Model 24.99 18.30 16.72
Reduced Model 21.41 17.20 14.94
0 2 4 6 8
0.8
0.85
0.9
0.95
1
1.05
1.1
q
[
m
]
Time [s]
0 2 4 6 8
0.8
0.85
0.9
0.95
1
1.05
1.1
q
[
m
]
Time [s]
0 2 4 6 8
0.8
0.85
0.9
0.95
1
1.05
1.1
q
[
m
]
Time [s]
Figure: Actual displacement , simulated reduced model (o) and
simulated complete model (+), for the 3-PRS robot.
18/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Results: 3-RPS Robot
Table: Relative Absolute Error (3-RPS parallel robot).
(q) (

q) ()
CAD + Friction 19.54 10.37 12.61
Complete Model 23.08 11.991 14.28
Reduced Model 17.33 9.44 11.31
0 2 4 6
0.55
0.6
0.65
0.7
0.75
0.8
q
[
m
]
Time [s]
0 2 4 6
0.55
0.6
0.65
0.7
0.75
0.8
q
[
m
]
Time [s]
0 2 4 6
0.55
0.6
0.65
0.7
0.75
0.8
q
[
m
]
Time [s]
Figure: Actual displacement , simulated reduced model (o) and
simulated complete model (+), for the 3-PRS robot.
19/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Outline
1 Introduction
2 Parameter Identication
3 Forward Dynamics
4 Results
5 Conclusions
20/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Conclusions and Work in progress
Conclusions
An approach for solving the forward dynamic problem in
terms of identied parameters was proposed
The approach was applied to solve the forward dynamics
of 1R2T parallel robots.
Work in progress
Model-Based Control.
Simulation of the robots.
21/22
Romansy
2010
Miguel Daz-
Rodrguez
Introduction
Parameter
Identication
Forward
Dynamics
Results
Conclusions
Forward Dynamics of 3-DOF Parallel Robots:
a Comparison Among Dierent Models
Miguel Daz-Rodrguez, Vicente Mata,

Angel Valera,

Alvaro Page dmiguel@ula.ve

Udine, July 6, 2010
22/22