Istanbul Technical University

Department of Control Engineering

Istanbul, Turkey

Emre SARIYILDIZ & Hakan TEMELTA

ELECO 2011

A Comparison Study of the Numerical
Integration Methods in the Trajectory Tracking
Application of Redundant Robot Manipulators
December 2011
1
CONTENTS

Introduction
Differential Kinematics Model
Numerical Integration of the Joint Velocities
Explicit Euler Integration Method
Runge-Kutta 4 Method
Euler Trapezoidal Predictor & Corrector Method
Adams-Moulton Method (Fourth Order)
Trajectory Tracking Application
Simulation Results
Conclusions


2
INTRODUCTION

Kinematic Problem: The problem of kinematic is
to describe the motion of the manipulator without
consideration of the forces and torques causing the
motion.

Kinematic

Forward Kinematics Inverse Kinematics
3
INTRODUCTION
Redundancy:
If the dimension of the joint space is greater than the
dimension of the work space then the robot is
kinematically redundant
4
DIFFERENTIAL KINEMATIC MODEL
Differential Kinematics:







generalized inverse of the Jacobian matrix







( )
g
J =
tip
q q V
( )
0 0
t t
g
dt J dt = =
} }
tip
q q q V
( )
g
J q
5
DIFFERENTIAL KINEMATIC MODEL
Advantages:

It can be easily implemented any kind of mechanism.
(Structure Free)
Easy to implement

Disadvantages

Locally linearized approximation of the inverse
kinematic problem
Heavy computational calculation and big
computational time
It requires numerical integration which suffers
from numerical errors















6
NUMERICAL INTEGRATION

Numerical Integration Methods:

Single-step numerical integration methods
Explicit Euler Integration
Runge-Kutta 4

Multi-step numerical integration methods
Predictor & Corrector
Adams-Moulton
7
NUMERICAL INTEGRATION

Explicit Euler Integration Runge-Kutta 4


where where




in which,


( ) ( ) ( )
1 k k k
t t t t
+
= + A q q q
( ) ( ) ( ) ( )
g
k k k
t J t t =
tip
q q V
( ) ( ) ( ) ( ) ( ) ( ) ( )
1
1
2 2
6
k k k k k k
t t t t t t
+
= + + + +
1 2 3 4
q q q q q q
( ) ( ) ( ) ( )
g
k k k
t J t t =
1 tip
q q V ( ) ( ) ( )
1
2
g
k k
k
t J t t
+
| |
|
=
|
\ .
2 1 tip
q q V
( ) ( ) ( )
1
2
g
k k
k
t J t t
+
| |
|
=
|
\ .
3 2 tip
q q V
( ) ( ) ( ) ( )
1
g
k k k
t J t t
+
=
4 3 tip
q q V
( ) ( ) ( ) ( ) ( )
( ) 1
2
g
k k k k
t
t t J t t
A
= +
tip
q q q V
( ) ( ) ( ) ( )
1 1
2
2
g
k k k
k
t
t t J t t
+
| |
| |
A
|
|
= +
| |
\ .
\ .
2 tip
q q q V
( ) ( ) ( ) ( )
2 1
2
g
k k k
k
t t t J t t
+
| |
| |
|
|
= + A
| |
\ .
\ .
3 tip
q q q V






8
NUMERICAL INTEGRATION

Predictor & Corrector



where is predicted joint velocities in which,















( ) ( ) ( ) ( )
( ) 1 1

2
k k k k
t
t t t t
+ +
A
= + + q q q q
( ) ( ) ( )
1

k k k
t t t t
+
= + A q q q ( ) ( ) ( ) ( ) ( )
1

g
k k k k
t t J t t t
+
= + A
tip
q q q V




( )

k
t q
9
NUMERICAL INTEGRATION
Adams & Moulten
Predictor
If then
If then
If then
If then

Corrector
If then
If then
If then
























1 k
t t =
( ) ( ) ( )
1

k k k
t t t t
+
= + A q q q
2 k
t t =
3 k
t t =
4 k
t t >
( ) ( ) ( ) ( )
( ) 1 1

3
2
k k k k
t
t t t t
+
A
= + q q q q
( ) ( ) ( ) ( ) ( )
( ) 1 1 2

23 16 5
12
k k k k k
t
t t t t t
+
A
= + + q q q q q
( ) ( ) ( ) ( ) ( ) ( )
( ) 1 1 2 3

55 59 37 9
24
k k k k k k
t
t t t t t t
+
A
= + + q q q q q q
1 k
t t =
2 k
t t =
3 k
t t >
( ) ( ) ( ) ( )
( ) 1 1

2
k k k k
t
t t t t
+ +
A
= + + q q q q
( ) ( ) ( ) ( ) ( )
( ) 1 1 1

5 8
12
k k k k k
t
t t t t t
+ +
A
= + + q q q q q
( ) ( ) ( ) ( ) ( ) ( )
( ) 1 1 1 2

9 19 5
24
k k k k k k
t
t t t t t t
+ +
A
= + + + q q q q q q
10
TRAJECTORY TRACKING
APPLICATION
qdot q NI
Numerical
Integration
Vt
error
qdot
J
Jacobian
q po FK
Forward
Kinematics
t
Vt
po
DT
Desired
Trajectory
Clock
Vt
Po
qdot TTP
Trajectory Tracking
Algorithm (Predictor)
Vt
po
qdotprdct
po1 TT
Trajectory
Tracking Algorithm t
Vt
po
DT
Desired
Trajectory
Clock
Explicit Numerical Integration

Euler Integration and Runge-Kutta 4
Implicit Numerical Integration

Predictor&Corrector and Adams Moulten
11
SIMULATION RESULTS
Matlab, Virtual Reality Toolbox (VRML)
12
SIMULATION RESULTS
Computational Efficiency
Simulation times of the numerical integration methods algorithms (second)
13
SIMULATION RESULTS
Accuracy
0 5 10
0
2
4
6
8
x 10
-4
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
0 5 10
0
2
4
6
8
x 10
-6
Time (s)
(b)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
0 5 10
0
0.2
0.4
0.6
0.8
1
x 10
-8
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
0 5 10
0
0.2
0.4
0.6
0.8
1
1.2
x 10
-13
E
r
r
o
r
s

(

r
a
d

&

m

)


Time (s)
(b)
or. error
psn. error
Explicit Euler Integration
(a) ms
(b) ms

Runge Kutta 4
(a) ms
(b) ms
100 t A =
10 t A =
100 t A =
10 t A =
14
SIMULATION RESULTS
Accuracy
Predictor&Corrector
(a) ms
(b) ms

Adams Moulten
(a) ms
(b) ms
100 t A =
10 t A =
100 t A =
10 t A =
0 5 10
0
1
2
3
4
5
6
x 10
-4
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


0 5 10
0
1
2
3
4
5
6
x 10
-6
E
r
r
o
r
s

(

r
a
d

&

m

)


Time (s)
(b)
or. error
psn. error
or. error
psn. error
0 5 10
0
0.05
0.1
0.15
0.2
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


0 5 10
0
1
2
x 10
-4
Time (s)
(b)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
or. error
psn. error
15
SIMULATION RESULTS
Stability
a) Explicit Euler Integration
b) Runge-Kutta 4
sec 1 t A =
0 5 10
0.01
0.02
0.03
0.04
0.05
0.06
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
0 5 10
0
0.02
0.04
0.06
0.08
0.1
Time (s)
(b)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
a) Predictor&Corrector
b) Adams Moulten
sec 1 t A =
0 5 10
0
0.05
0.1
0.15
0.2
Time (s)
(a)
E
r
r
o
r
s

(

r
a
d

&

m

)


0 5 10
0
1
2
x 10
-4
Time (s)
(b)
E
r
r
o
r
s

(

r
a
d

&

m

)


or. error
psn. error
or. error
psn. error
16
SIMULATION RESULTS
Around the Singularity Points
17
Total orientation and position errors (radian and meter) of the end effector
around the singular configurations of robot arm for the Explicit Euler, Runge-
Kutta 2 and Runge-Kutta 4 numerical integration methods.
0 20 40 60
0
0.2
0.4
0.6
0.8
Time (sec)
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

E
u
l
e
r

I
n
t
.
0 20 40 60
0
0.02
0.04
0.06
Time (sec)
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

R
u
n
g
e

K
u
t
t
a

2
0 20 40 60
0
1
2
3
4
5
6
x 10
-5
Time (sec)
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

R
u
n
g
e

K
u
t
t
a

4
0 20 40 60
0
0.05
0.1
0.15
0.2
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

E
u
l
e
r

I
n
t
.
0 20 40 60
0
0.002
0.004
0.006
0.008
0.01
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

R
u
n
g
e

K
u
t
t
a

2
0 20 40 60
0
0.5
1
1.5
2
2.5
x 10
-5
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

R
u
n
g
e

K
u
t
t
a

4


10 t ms A =
SIMULATION RESULTS
Around the Singularity Points
18
Total orientation and position errors (radian and meter) of the end effector
around the singular configurations of robot arm for the Predictor & Corrector,
Adams-Bashforth and Adams-Moulton numerical integration methods.
0 20 40 60
0
0.2
0.4
0.6
0.8
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

P
r
e

&

C
o
r
.
Time (sec)
0 20 40 60
0
0.02
0.04
0.06
0.08
Time (sec)
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

A
d
.

M
o
u
l
t
.
0 20 40 60
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
O
r
i
e
n
t
a
t
i
o
n

E
r
r
o
r

o
f

A
d
.

B
a
s
h
.
0 20 40 60
0
0.05
0.1
0.15
0.2
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

P
r
e

&

C
o
r
0 20 40 60
0
0.005
0.01
0.015
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

A
d
.

M
o
u
l
t
.
0 20 40 60
0
0.01
0.02
0.03
0.04
Time (sec)
P
o
s
i
t
i
o
n

E
r
r
o
r

o
f

A
d
.
B
a
s
h
.
10 t ms A =
CONCLUSIONS
The performance of the trajectory tracking algorithm is drastically
affected by the chosen numerical integration method.

More accurate and more computationally efficient trajectory tracking
algorithms can be obtained by changing the numerical integration methods.
Even, the trajectory tracking algorithm may become unstable because of the
chosen numerical integration method.

Runge-Kutta and Adams-Moulton numerical integration methods give
satisfactory results in the trajectory tracking application.

Runge-Kutta is the most accurate but least computationally efficient
method.

Euler integration is the most computationally efficient but least accurate
method.















19
CONCLUSIONS
Note:


In the trajectory tracking application, Runge-Kutta based algorithm gives
quite satisfactory results when the sampling rates are high. As the
sampling rates increase, computational load of the trajectory tracking
algorithm decreases. However Runge-Kutta based algorithms require
extra computations and they have high computational load, the
satisfactory results at high sampling rates may reduce even eliminate
this disadvantage.




20


Thank you for your kind
attention !

Questions ?
21