ME 439
Professor N. J. Ferrier
Dynamic Modeling
For manipulator arms:
Relate forces/torques at joints to the motion
of manipulator + load
External forces usually only considered at the
end-effector
Gravity (lift arms) is a major consideration
ME 439
Professor N. J. Ferrier
Dynamic Modeling
Need to derive the equations of motion
Relate forces/torque to motion
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
where
is the set of material points
that comprise the body
ME 439
Professor N. J. Ferrier
Inertia
ME 439
Professor N. J. Ferrier
Equations of Motion
Newton-Euler approach
P is absolute linear momentum
F is resultant external force
Mo is resultant external moment wrt point o
Ho is moment of momentum wrt point o
ME 439
Professor N. J. Ferrier
Equations of Motion
Lagrangian using generalized coordinates:
The equations of motion for a mechanical
system with generalized coordinates are:
ME 439
Professor N. J. Ferrier
Equations of Motion
Lagrangian Dynamics, continued
ME 439
Professor N. J. Ferrier
Equations of Motions
Robotics texts will use either method to
derive equations of motion
In ME 739: Advanced Robotics and
Automation we use a Lagrangian approach
using computational tools from kinematics
to derive the equations of motion
ME 439
Professor N. J. Ferrier
Manipulator Dynamics
Isolate each link
Neighboring links apply external forces and
torques
Mass of neighboring links
External force inherited from contact between tip
and an object
DAlembert force (if neighboring link is
accelerating)
ME 439
Professor N. J. Ferrier
Notation
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
Applied by
actuators in
z direction
ME 439
external
Professor N. J. Ferrier
Newtons Law
A net force acting on body produces a
rate of change of momentum in
accordance with Newtons Law
ME 439
Professor N. J. Ferrier
Force/Torque on link n
ME 439
Professor N. J. Ferrier
Newtons Law
ME 439
Professor N. J. Ferrier
Newton-Euler Algorithm
ME 439
Professor N. J. Ferrier
Newton-Euler Algorithm
1. Compute the inertia tensors,
2. Working from the base to the endeffector, calculate the positions,
velocities, and accelerations of the
centroids of the manipulator links with
respect to the link coordinates
(kinematics)
3. Working from the end-effector to the
base of the robot, recursively calculate
the forces and torques at the actuators
with respect to link coordinates
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
Recursive Newton-Euler
Algorithm
ME 439
Professor N. J. Ferrier
Two-link manipulator
ME 439
Professor N. J. Ferrier
L2
L1
x0
Z0 1
x1
2
Z1
x2
Z2
Link
Var
L1
L2
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
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Professor N. J. Ferrier
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Professor N. J. Ferrier
m1
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Professor N. J. Ferrier
m2
ME 439
Professor N. J. Ferrier
General Form
Joint
torques
Inertia
(mass)
Coriolis &
centripetal
terms
Joint
accelerations
ME 439
Professor N. J. Ferrier
Gravity
terms
Joint torques
required to hold
manipulator in a
static position (i.e.
counter
gravitational forces)
ME 439
Professor N. J. Ferrier
Gravity terms
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Professor N. J. Ferrier
Integrate to get
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier
ME 439
Professor N. J. Ferrier