In Actuators.
The actuator can be accelerate a robots links for exerting enough
forces
and torques at a desired acceleration and velocity.
By the dynamic relationships that govern the motions of the
robot,
Chapter 4
Dynamic Analysis and Forces
4.2 LAGRANGIAN MECHANICS: A SHORT OVERVIEW
Lagrangian mechanics is based on the differentiation
energy terms
only, with respect to the systems variables and time.
Definition: L = Lagrangian, K = Kinetic Energy of the system, P =
Potential
linear
motion,
L K P
x = System variables
L L
Fi
t xi xi
L L
Ti
t i i
Chapter 4
Dynamic Analysis and Forces
Example 4.1
1 2 1
1
K mv m x , P kx 2
2
2
2
Solution
Lagrangian
mechanics
.
.
.. L
d
m x, ( m x ) m x,
kx
.
dt
x
xi
..
F m x kx
1 1 2
L K P m x kx
2
2
Newtonian
__
__
mechanics
F m a
F kx ma F ma kx
Chapter 4
Dynamic Analysis and Forces
Example 4.2
In this system.
It requires two coordinates, x and .
It requires two equations of motion:
1. The linear motion of the system.
2. The rotation of the pendulum.
Solution
F m1 m2 m2l cos
T m l cos m l 2
2
2
2
kx
x
.
2 m2 gl sin
.
Chapter 4
Dynamic Analysis and Forces
Example 4.4
Using the Lagrangian method, derive the equations of motion for the
two-degree of freedom robot arm.
Solution
Chapter 4
Dynamic Analysis and Forces
4.3 EFFECTIVE MOMENTS OF INERTIA
To Simplify the equation of motion, Equations can be
rewritten in
symbolic form.
.
..
. .
2
T1 Dii Dij i
Diii Dijj 1
Diii Dijj 1 2 Di
T D D .. D D . 2 D D . . D
2 ji jj j jii jjj 2 jii jjj 2 1 j
Chapter 4
Dynamic Analysis and Forces
1
1 __
2
K mV h G
2
2
1
1
2
mV I 2
2
2
Fig. 4.7 A rigid body in three-dimensional motion
and
in plane motion.
Chapter 4
Dynamic Analysis and Forces
pi RTi ri 0Ti ri
The velocity of a point along a robots link can be defined by differentiating
the position equation of the point.
1 n i i
1 n
T
K i Trace U ip J iU ir q p q r I i ( act ) q i2
2 i 1 p 1 r 1
2 i 1
Chapter 4
Dynamic Analysis and Forces
i 1
i 1
P pi [ mi g T ( 0Ti ri )]
The potential energy must be a scalar quantity and the values in the gravity
matrix are dependent on the orientation of the reference frame.
Chapter 4
Dynamic Analysis and Forces
1 n i i
L K P Trace U ip J iU irT q p q r
2 i 1 p 1 r 1
n
1 n
2
I i ( act ) q i [ mi g T ( 0Ti ri )]
2 i 1
i 1
Chapter 4
Dynamic Analysis and Forces
j 1
j 1 k 1
Trace (U
where, Dij
pj
J pU Tpi )
p max( i , j )
Dijk
Trace (U
p max( i , j , k )
n
Di m p g T U pi rp
p i
pjk
J pU Tpi )
Chapter 4
Dynamic Analysis and Forces
Example 4.7
Solution
The final equations of motion without the actuator inertia terms are the same as below.
1
1 2 4
T1
1
1
1
1
1
1
1
m2l 2 m2l 2C2 1 m2l 2 2 m2l 2 S 2 m2 glC12 I 2 ( act )1
2
3
2
2
T2
Chapter 4
Dynamic Analysis and Forces
4.5 STATIC FORCE ANALYSIS OF
ROBOTS
Robot
Control means Position Control and Force Control.
Position Control: The robot follows a prescribed path without any reactive force.
Force Control: The robot encounters with unknown surfaces and manages to
handle the task by adjusting the uniform depth while getting the reactive force.
Ex) Tapping a Hole - move the joints and rotate them at particular rates to
create the desired forces and moments at the hand frame.
Ex) Peg Insertion avoid the jamming while guiding the peg into the hole and
inserting it to the desired depth.
Chapter 4
Dynamic Analysis and Forces
4.5 STATIC FORCE ANALYSIS OF
ToROBOTS
Relate the joint forces and torques to forces and moments generated at the
W f x
fx
fy
fz
mx
my
F D T D
T H
fy
fz
mx
T H J T H F
my
mz
mz
dx
dy
dz
f x dx L L mz z
x
y
z
Referring to Appendix A
Chapter 4
Dynamic Analysis and Forces
4.6 TRANSFORMATION OF FORCES AND MOMENTS BETWEEN COORDINATE
FRAMES
An equivalent force and moment with respect to the other coordinate frame
by the principle of virtual work.
F T f x
f y f z mx m y mz
DT d x
dy dz x y z
F
D
B
fx
dx
fy
dy
fz
B
dz
mx
my
mz
The total virtual work performed on the object in either frame must be the same.
W F D T
T
T B
Chapter 4
Dynamic Analysis and Forces
4.6 TRANSFORMATION OF FORCES AND MOMENTS BETWEEN COORDINATE
FRAMES
Displacements relative to the two frames are related to each other by the
following relationship.
D J D
B
The forces and moments with respect to frame B is can be calculated directly
from the following equations:
B
fx n f
m x n [ f p m ]
fy o f
m y o [ f p m ]
fy o f
m z a [ f p m ]