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Robot 3 Link

The document describes the forward and backward kinematic analysis of a 3 link planar robot arm. It defines the Denavit-Hartenberg parameters and transformation matrices to relate the coordinates of each link. It then derives the angular velocities, accelerations, linear velocities and accelerations of each link using the Newton-Euler recursive equations. The kinetic equations are also determined through the backward recursion method to calculate the forces and torques at each joint.

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Xzax Tornadox
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44 views18 pages

Robot 3 Link

The document describes the forward and backward kinematic analysis of a 3 link planar robot arm. It defines the Denavit-Hartenberg parameters and transformation matrices to relate the coordinates of each link. It then derives the angular velocities, accelerations, linear velocities and accelerations of each link using the Newton-Euler recursive equations. The kinetic equations are also determined through the backward recursion method to calculate the forces and torques at each joint.

Uploaded by

Xzax Tornadox
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Industrial Robot II Report: Newton-Euler

Framework and simulation of RRR Planar


Robot
1 FORWARD KINEMATIC
1.1 DH-PARAMETER

ai

di

l
1

1.2 DENAVIT HATENBERG CONVENTION


cos
i 1

Ai

sin
0
0

i
i

cos
cos

i
i

sin

cos

sin
0

i
i

sin
sin

sin
i

cos
0

cos
i

ai cos

i
i

ai sin
di
1

i
i

1.2.1

Transformation matrix

A1

cos

sin

sin
cos

0
0

A3

1
1

0
0

cos

sin

sin
cos

0
0

0 l1 cos

l1 sin

1
0

0
1

3
3

0
0

0 l 3 cos

l 3 sin

1
0

0
1

c1
sin 3 , c123...n

s3

sin

s123... n

A2

A3

1
3

cos 1 , s1

......

0 l1c1

0 l1 s1 l 2 s12

0 l1c1

cos

0
0

sin 1 , c 2
n

sin

sin

cos

2
2

0
0

, s2

0 l 2 cos

l 2 sin

1
0

0
1

sin 2 ,

l 2 c12

c12

s123

......

A2

s12

c123
0

s12

c12

cos

cos

c 23
1

l 2 c12

l 3 c123

0 l1 s1 l 2 s12

l 3 s123

s123

c123

A3

s 23

0 l 2c2

l 3 c123
l 3 s123

s 23

c 23

0 l 2s2

1.2.2

Rotation matrix

cos
0

sin

R1

R2

sin
cos

c12

s12

cos

R2

sin

c12

cos

s12

sin

c123
0

R3

2
2

0
s123

0
0

R3

c123

sin

sin
cos

s123

cos

c 23
1

R3

3
3

s 23

s 23

c 23

The position vector of {i} with respect to {i-1} and describe in {0}

l1c1
p1* l1s1
0
1.3.2

l2 c12
p2* l2 s12
0

l3c123
p3* l3 s123
0

The position vector of ith link center of mass with respect to {i} and describe in {0}

l1
2 c1

l
s1 1 s1
2
0

l2
2 c12

l
s 2 2 s12
2
0

l3

2 c123

l3

s3
s
2 123

0
1

1.3 DEFINE POSITION VECTOR


1.3.1

KINEMATIC PARAMETER BY FORWARD METHOD

Forward Equation for i 1, 2,3

: Absolute angular velocity of link

ii

: Absolute angular acceleration of link

aii

aci i

: Absolute linear acceleration of link

: Absolute linear acceleration of link

Initial condition

0
0

0,

0
0

with reference to frame

with reference to frame

at the origin of frame

0
0 , v0 g
0

Angular velocity

0
= R0 = R0 ( R00 k q ) 0 1
1
1
1

2.1.2

0
1

Angular acceleration

0
0 1
1
1
1

1
1 1

with reference to frame

at the center of mass of link

2.1 LINK 1
2.1.1

with reference to frame

2.1.3

Linear acceleration

g s1 l11

a11 gc1 l11

2.1.4

center of mass Linear acceleration

l1

g
s

1
1

l1
1

ac1 gc1 1

2.2 LINK 2
2.2.1

Angular velocity

0
= 0 1 2
1

2
2

2.2.2

Angular acceleration

0
22 0 1 2
1

2.2.3

Linear acceleration

gc l s l ( ) 2 g s c l
1 1
1
2
2
1
2
1 1 1 2

a22 gc1 l11 c2 l1 (1 ) 2 g s1 s2 l2 1 2

2.2.4

center of mass Linear acceleration

l2

2
gc1 l11 s2 l1 (1 ) g s1 c2 2 1 2

l
2
aC2 gc1 l11 c2 l1 (1 ) 2 g s1 s2 2 1 2

2.3 LINK 3
2.3.1

Angular velocity

0
= 0 1 2 3
1

3
3

2.3.2

Angular acceleration

0
22 0 1 2 3
1

2.3.3

Linear acceleration

gs123 2l2c312 2l2c3 2 2 l2c332 l2 s31 l2 s32 l1c2312 l1s231 4l2c312 2l2c313 2l2c323

a33 l3 1 2 3 gc123 2l2 s312 2l2 s32 2 l2 s332 l2c31 l2c32 l1s2312 l1c231 4l2 s312 2l2 s313 2l2 s323

2.3.4

center of mass Linear acceleration

gs123 2l2c312 2l2c3 2 2 l2c332 l2 s31 l2 s32 l1c2312 l1s231 4l2c312 2l2c313 2l2c323

aC33 l3 1 2 3 gc123 2l2 s312 2l2 s32 2 l2 s332 l2c31 l2c32 l1s2312 l1c231 4l2 s31 2 2l2 s313 2l2 s323

3 KINETIC PARAMETER BY BACKWARD METHOD


3.1 LINK 1
3.1.1

Force

1 2 3
f11 4 5 6

0
l1m112
gm2 s1 gm3 s1
2
l3m3c23 (12 2 2 32 ) l3 m3 s23 (1 2 3 ) l2 m2 c2 (12 2 2 )

2
2
2
3 l2 m3 s2 (1 2 ) l2 m2c212 4l2 m3c212 2l2 m3c213 2l2 m3c223

1 gm1s1 l1m212 l1m112

l3m3c231 2 l3m3c2313 l3m3c23 23

2 2l2 m3c212 2l2 m3c2 2 2 l2 m3c23 2

l2 m2 s2 (1 2 )
2

l2 m2 s2 (12 2 2 )
l m c ( )
2l2 m3 s2 (12 2 2 ) l2 m3 s232 2 2 2 1 2 l2 m3c2 (1 2 )
2
2
2
l m c ( 2 2 32 ) l3m3 s23 (1 2 3 )
l m
4 1 1 1 (l1m2 l1m3 )1 (m1 m2 m3 ) gc1 3 3 23 1

2
2
2

6 l2 m2 s21 2 4l2 m3 s21 2 2l2 m3 s213 2l2 m3 s2 23 l3m3 s231 2 l3m3 s2313 l3m3 s2323

3.1.2

Moment

n
0

1 2 3 4 5 6 7
1
1

I1

I2

l3 2 m3

I3
1

I3

l1l2 m2 s2
2
l2l3 m3 s3

l2l3 m3 c3

2
2

l1l2 m3 s2

2
3

l1l2 m2 c2

l2l3 m3 c3
2

l1l3 m3 c23

l1l2 m2 s2

1 2

gl1c1 m2

l1l2 m2 c2
2

l1l3 m3 s23

4l1l2 m3 s2

l12 m1
4

2l1l2 m3 s2

l1l3 m3 s23 (

I3

gl1m1c1
2

I2

l1l2 m3 c2
2

1 3

3 2

l2 2 m2
4

l2 2 m3 (

l1l3 m3c23

)
3l2l3 m3 s3

2 3

1 2

2l2l3 m3 s3

1 3

2l2l3 m3 s3

1 2 3
f 22 4 5 6

0
1 gm2 s12

2 l1 m3 c21
2

2l 2 m3 1 2

l3 m3 1 2 3
2

l m
2

2
3

l 2 m21
2

l m

3 2l2 m3 23 l1m2 s21 l1m3 s21

4 l3 m3c313 l3 m3c323

Force

l 2 m2 2

3.2 LINK 2
3.2.1

2
3

2l1l2 m3 s2

1 3

l2l3 m3 c3

1 2

l1l3 m3 s23

l2 2 m2
4

gl3 m3 c123 gl2 m2 c12


gl2 m3 c12
2
2
2
3l2l3 m3 s3 12
2
2

m3

2l1l2 m3 c2

m3 l12

m2

l1l2 m3 s2

2l1l2 m3 s2

1 2

gm3 s12 l1 m2 c21

4l2 m31 2 2l2 m31 3

l3 m3 c3 1 2 3
2

l3 m3 c31 2

2 3

l2 m2 1 2

l2 m3 1 2 gm2 c12 gm3 c12 l1m2 s21 l1 m3 s21


2

7 l3 m3 s31 2 l3 m3 s313 l3 m3 s3 23
6
3.2.2

l3 m3 s3 2 3
2

lm c

l1m3 c21

l3 m3 c3 1 2 3
2

Moment

0
2
2

I1

I2

I3

gl3 m3 c123
2

l2l3 m3 s3

l1l3 m3 s23
2

l2 2 m2

I3

gl2 m2 c12
2
l1l2 m2 c2
2

2
3

l1l2 m3 c2

l2 m3

3l2l3 m3 s3

l2l3 m3 c3

1 2

l1l2 m2 s2
2
1

l3 2 m3

gl2 m3 c12

l1l3 m3 c23
2

l1l2 m3 s2
1

l2l3 m3 c3
2

l2l3 m3 s3

1 31

l2l3 m3 c3

2l2l3 m3 s3

3l2l3 m3 s3

1 3

2l2l3 m3 s3

2 3

3.3 LINK 3
3.3.1

Force

1 2
3
f 3 3 4

l3 m3

2
1

gm3 s123

2
l2 m3 c3

2
3

l2 m3 s3 (

l1m3 c23

) 4l2 m3 c3

2
1

1 2

l1m3 s23
4l2 m3 c3

2l2 m3c3
1 2

2
1

2l2 m3 c3

2l2 m3c3
1 3

2
2

2l2 m3 c3

2 3

l3 m3 s31
2

l3 m3 (

2
2

2l2 m3 s3

gm3 c123

I3 (

l2 m3 s3

Moment

3.3.2

l2 m3 c3

l1m3 s23

l2 m3c3

l1m3 c23

4l2 m3 s3

2l2 m3 s3

2l2 m3 s3

1 2

1 3

2l2 m3 s3

0
n33 0

1 2
1

l2l3 m3 s3
2

l3 2 m3 (

3)

l2l3 m3 c3
2

4
l2l3 m3 c3
2

gl3 m3 c123
l2l3 m3 s3
2
l1l3 m3 s23 12 l1l3 m3 c23 1
2
2

2
2

2l2l3 m3 s3

1 2

4 EQUATION OF MOTION
4.1

JOINT 1
1

A1

A2

A1

I1

A2
A3

A3

1 1

I2

I3

l2 2 m2
4

I2

I3

l2 2 m2
4

I3

l3 2 m3
4

2
2 1 2

l3 2 m3
4

l3 2 m3
4

l2l3 m3 c3
2

l1l3 m3 s23

3l2l3 m3 s3

4l1l2 m3 s2

l1l2 m2 s2

2l2l3 m3 s3

2l1l2 m3 s2

l1l3 m3 s23

l1l2 m2 c2

3l2l3 m3 s3
ll m s
2l1l2 m3 s2 1 2 2 2
2
2
2l2l3 m3 s3 2l1l2 m3 s2 l1l3 m3 s23

4 2

l1l3 m3 s23
l1l3 m3 s23
2

2
5 2 3

2l1l2 m3c2

l1l2 m3 c2

l1l3 m3 c23
2

l1l2 m3 s2

3 1 3

l1l2 m2 c2
2

3l2l3 m3 s3
2

2 3

6 3

l2l3 m3c23

l2l3 m3 c3

l1l3 m3 c23
2

A4 g

l2l3 m3 s3

1 3

l2l3 m3 s3

2 3

l2l3 m3 s3

l1m1c1
2

A4

4.2

l1l2 m3 s2
l1m2 c1

l1l3 m3 s23
2
lmc
l1m3 c1 3 3 123
2

l2 m2 c12
2

l1m3 c12

JOINT 2

B1
B2

B3

B1

I2
I2

I3

B2

l2 2 m2
4

I3

l2 2 m2
4

l3 2 m3
4

2
3

2l2l3 m3 s3

3l2l3 m3 s3
2
2l2l3 m3 s3

l2l3 m3 s3

B4

B3

I3

l1l2 m2 s2
2
3l2l3 m3 s3

l3 m3 c123
2

2
3

1 1

l2 2 m3
2

l2 m3

2 1 2

3 1 3

l3 2 m3
4

l1l2 m2 c2
2

l3 2 m3
4

l2l3 m3 c3

l2l3 m3 c3
2

l1l2 m3 s2

3l2l3 m3 s3
2

l2 m2 c12
2

l2 m3 c12

l1l3 m3 s23
2

4 2

5 2 3

l1l2 m3 c2

l2l3 m3 c3

6 3

l1l3 m3c23
2

B4 g

4.3

JOINT 3

C1

C2

C3

I3

l3 2 m3
4

l2l3 m3 c3
2

C2

I3

l3 2 m3
4

l2l3 m3 c3
2

C3

I3

l3 2 m3
4

l2l3 m3 s3

2
3
4
5

2l2l3 m3 s3
l2l3 m3 s3
l2l3 m3 s3
l2l3 m3 s3
l2l3 m3 s3
2
l3 m3 c123
2

C1

6
C4

1 2

1 3

2
2

2 3

2
3

C4 g

l1l3 m3 c23
2

l1l3 m3 s23
2

5 SIMULATION
5.1

STATE SPACE REPRESENTATION


*
3

m1

C4 g
m2 m3
3

*
2

50kg l1

*
1

B4 g

l2

l3

A4 g

1m

Robot 1 , 2 ,
cos1 cos2 cos3 1 sin 1 1,sin 2 2 ,sin 3 3

A1

A2

A3

A4 g

B1

B2

B3

B4 g

C1

C2

C3

C4 g

A4 g

A1

A2

A3

B4 g

B1

B2

B3

C4 g

C1

C2

C3

A1

A2

A3

B1

B2

B3

C1 C2

C3

11

12

13

21

22

23

31

32

33

*
1
*
2
*
3
*
1
*
2
*
3

State space representation


x1

, x2

, x3

, x1

, x2

, x3

input 1 , 2 , 3 output

0 0 0 1 0 0

0 0 0 0 1 0

0 0 0 0 0 1

0 0 0 0 0 0

11

12

13

0 0 0 0 0 0

21

22

23

0 0 0 0 0 0

31

32

33

1 0 0 0 0 0

0 1 0 0 0 0

0 0 1 0 0 0

1
2
3

Bu y

Ax

*
1
*
2
*
3

Cx

Du D=0

0 0 0 1 0 0

0 0 0 0 1 0

0 0 0 0 0 1

0 0 0 0 0 0

0.02

0 0 0 0 0 0

0 0 0 0 0 0

0.05

0.05
0.02

0.02

0.12

0.1

0.1

0.17

*
1
*
2
*
3

5.2

SOLVING EQUATION

A4

State equation 1 , 2 , 3 Simulink A4 , B4 , C4


2207.25 , B4 981 , C4 245.25 Simulink Block

input 1 N.m

10 , 20 , 15
1 (0), 2 (0), 3 (0)

2209 ,

982 ,

246

5.3 RESULT

, 2,

5.3.1,5.3.2,5.3.3

5.3.1 JOINT 1 10

5.3.2 JOINT 2 10
5.3.1

5.3.3 JOINT 3 10

5.3.1
5.3.4,5.3.5, 5.3.6,5.3.7

5.3.4 3

5.3.1

5.3.5 7

5.3.1

5.3.6 9

5.3.7 10

Recursive Newton-Euler

Equation of Motion

Equation of Motion simulation input


simulation

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