Dept.

Of Mechanical Engineering

MECH572A Introduction To Robotics

Lecture 9

Review
Velocity, Acceleration and Static Analysis
Mapping between Cartesian and joint space (Linear transformation)

Joint Rate

Cartesian rate

EE Wrench

Joint force/torque

Rate analysis

Static analysis

Jacobian Matrix General form for n-R manipulator

Special case: 6R Decoupled Manipulator (PUMA)

Review
Velocity, Acceleration and Static Analysis
6R Decoupled Manipulator -> Solve two linear systems of equations (3 equations 3 unknowns) Rate problem

Static problem

Review
Singularity Analysis - Based on the analysis of Jacobian Matrix
- Singularity analysis of 6R decoupled manipulator - General concept Conditioning analysis of J12 & J21

Acceleration Analysis

Planar Manipulator
3-Revolute Planar Manipulator
Properties: 1) e1 // e2 // e3 2) 1 = 2 = 3 3) X1, X2 and X3 coplanar 4) b1 = b2 = b3=0 5) a1, a2, and a3 none zero (Link length) e2 e1 X1 X3

e3 X2

Planar Manipulator
Displacement Analysis
From geometry

(4.103a) + (4.103b)

Also Solution depends on the relative position between line L and circle C a) L intersects with C: 2 roots b) L tangent to C: 1 root c) L does not intersect with C: No root

Planar Manipulator
Displacement Analysis
The case of two real roots:

Planar Manipulator
Velocity Analysis

2-D crossproduct matrix

Planar Manipulator
Velocity Analysis

Mapping rates between joint and Cartesian space

Planar Manipulator
Acceleration Analysis

Planar Manipulator
Static Analysis

Scalar 2-D vector

Example
3-R planar manipulator. Known: Link length a1 = a2 = a3 = 1m Joint angles 1 = 2 = 3 = 45 Joint Torques 1 = 2 = 2 Nm, 3 = 1 Seek: Wrench acting at EE

Nm

Planar Manipulator
Example (cont'd)
Solution:

3 equations, 3 unknowns

Planar Manipulator
Example (cont'd)

Manipulator Dynamics
Overview
Dynamics: Study the relationship between force/torque and the manipulator motion This relationship can be expressed mathematically by a set of differential equations Equation of Motion (E.O.M) Establish E.O.M:
Newton-Euler Formulation Direct interpretation of Newton's 2nd law. Constraint forces appear in the EOM Lagarangian Formulation Described using work/energy of the system. Constraint/workless forces eliminated from EOM

Manipulator Dynamics
Overview
Robotic Dynamic Problems
1(t), n(t)
Forward Dynamics

1(t), n(t)

i
Joint torque

i
Joint Coord.

t
Inverse Dynamics

1(t), n(t)

1(t), n(t)

Manipulator Dynamics
Basic Definitions in Multibody Dynamics A system of rigid-body Bi, i = 1, 2 r
Mass and angular velocity representations of each body in matrix form:

Inertia Dyad (66) Ii - Inertia matrix i - Angular velocity matrix mi - mass

Angular Velocity Dyad (66)

Manipulator Dynamics
Basic Definitions in Multibody Dynamics (cont'd)
Twist, Momentum and wrench:

Twist

Momentum screw

Working wrench (Actuator forces, environmental forces, dissipation forces)

Constraint wrench (nonworking force)

Manipulator Dynamics
Newton-Euler Formulation
Momentum: fw C nw i

nc

Bi
Newton-Euler equ. c (E) (N) Compact form:

fc

Manipulator Dynamics
Euler-Lagarange Formulation

T System kinetic energy - Joint displacement vector (generalized coordinates) - Generalized force Non conservative force Conservative force Alternative form
Power supplied to the system Dissipation function

Lagrangian

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Active wrench at ith joint Overall system:

System level definitions:

Working wrench

Twist

Momentum

Constraint Wrench

Active Wrench

Dissipative Wrench

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Manipulator Mass: Manipulator Angular Velocity System Momentum (6n6n) (6n6n)

System Kinetic Energy Recall for series manipulators: Alternative form of Kinetic Energy (in terms of generalized coordinates) (Homogeneous in )

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Differentiate w.r.t time:

Generalized Inertia matrix

Write the E-L equation as

Generalized momentum

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Alternative form of E-L equation:

Example

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Solution: 1) Compute the angular velocity of each link:

2) Compute the linear velocity of mass centre of each link:

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
3) Square the magnitude of mass-centre velocity

4) Compute the kinetic energy

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
Components of the generalized inertia matrix:

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
5) Potential Energy:

6) Compute the power delivered to the manipulator

7) Compute time-derivative of generalized inertia matrix:

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)

8) Compute the partial derivative

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)

Compute

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd)
10) Compute partial derivative of potential energy:

11) The final form of E.O.M

Manipulator Dynamics
Euler-Lagrange Formulation (cont'd) Conclusion:
o Straightforward differentiation approach to derive Euler-Lagrange

equation is not practical o Alternative approach is desirable Natural Orthogonal Decomposition method will be introduced later on