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Robotics: Dynamic Model of Manipulators

The document summarizes the dynamics of robot manipulators. It discusses two approaches to developing the dynamic model: Lagrange-Euler and Newton-Euler. Lagrange-Euler is based on energy and derives the model from kinetic and potential energies. Newton-Euler is based on forces/moments and uses a recursive computation. The document provides examples of applying Lagrange's equations to a 2-link planar manipulator to derive the equations of motion. In general, the dynamic model of an n-link robot arm can be expressed as a matrix equation relating joint torques to accelerations and dependent on inertia, Coriolis/Centrifugal, and gravity terms.

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131 views20 pages

Robotics: Dynamic Model of Manipulators

The document summarizes the dynamics of robot manipulators. It discusses two approaches to developing the dynamic model: Lagrange-Euler and Newton-Euler. Lagrange-Euler is based on energy and derives the model from kinetic and potential energies. Newton-Euler is based on forces/moments and uses a recursive computation. The document provides examples of applying Lagrange's equations to a 2-link planar manipulator to derive the equations of motion. In general, the dynamic model of an n-link robot arm can be expressed as a matrix equation relating joint torques to accelerations and dependent on inertia, Coriolis/Centrifugal, and gravity terms.

Uploaded by

balkyder
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotics

Lecture 10

Dynamic model of manipulators

Emam Fathy

Department of Electrical and Control Engineering

email: [email protected]

http://www.aast.edu/cv.php?disp_unit=346&ser=68525
1
Introduction
 Robot arm dynamics deals with the mathematical
formulations of the equations of robot arm
motion.

 They are useful as:


– For computer simulation
– Design of suitable controller
– Evaluation of robot structure

 The way in which the motion of the manipulator


arises from torques applied by the actuators, or
from external forces applied to the manipulator.
Two Approaches of the dynamic model
 LAGRANGE-EULER Approach (Energy based)
– First approach to be developed.
– Simpler, and more suitable to understand the effects of changes in the
mechanical parameters.
– The links are considered altogether, and the model is obtained analytically.
 Drawbacks:
– The model is obtained starting from the kinetic and potential energies.
– The model is not computationally efficient.

 NEWTON-EULER Approach (Momentum/force based)


– Based on a computationally efficient recursive technique that exploits the
serial structure of an industrial manipulator.
– On the other hand, the mathematical model is not expressed in closed form.
– Allow real time control.

The two techniques are equivalent (provide the same results).


Lagrange-Euler Approach
 Consider a single degree of freedom system
consisting of a particle of constant mass m,
constrained to move in the y-direction, and
subject to a force f and the gravitational force mg,
 The Newton’s Second law: F = ma
 The equation of motion of the particle is
my¨=f − mg ……(1)
 The left hand side of Equation (1) be written as

 Where is the kinetic energy. 5


 Likewise we can express the gravitational force in
Equation (1) as

 Where 𝑃 = 𝑚𝑔𝑦 is the potential energy due to


gravity
…(2)

 The function L is the difference of the kinetic and


potential energy, is called the Lagrangian of the
system
 Equation (2) is called the Euler-Lagrange Equation.
 It provides the dynamic equations. 6
 Note that and

then we can write Equation (1) as

7
Summary

8
F = ma
 The equation of motion of the particle is
my¨=f − mg ……(1)

 kinetic energy:
 potential energy: 𝑃 = 𝑚𝑔𝑦

 Note that and


(1)===>
9
Manipulator Dynamics
 Lagrange-Euler Formulation
d L L
( ) i
dt qi qi
– Lagrange function is defined

• K : Total kinetic energy of robot


• P : Total potential energy of robot
• qi : Joint variable of i-th joint
• qiሶ : first time derivative of qi
• 𝜏𝑖 : Generalized force (torque) at i-th joint
10
Example

11
 Consider a planar polar
manipulator with
massless link and a
massive point m.

 The kinetic energy of the


manipulator is:

12
 The potential energy of the manipulator is:

𝑃 = 𝑚2 𝑔 Y2 = 𝑚2 𝑔 𝑞1 𝑠𝑖𝑛𝑞2
 Therefore, the Lagrangian is:

L=𝐾−𝑃 =

𝜏𝑖

𝜏1
𝜏2
13
Example

14
 Consider a planar manipulator with massless
links and two massive points m1 and m2.
Determine the equations of motion.

15
 The kinetic energy

 The potential energy of the manipulator is:

𝑃 = 𝑚2𝑔Y2 = 𝑚2𝑔 𝑙 𝑠𝑖𝑛𝑞2


16
 Therefore, the Lagrangian is:
L = 𝐾 − 𝑃 = 𝐾1 + K2 − 𝑃

𝜏𝑖

𝜏1
𝜏2

17
• Dynamics Model of n-link Arm

  D(q )q  h(q, q )  C (q )


 1  Driving torque  D11  D1n  The

   applied on each D     Acceleration-
link  related Inertia
 n   Dn1  Dnn  matrix term,
Symmetric

 h1   C1 
 
h(q, q )     C (q )    
The Coriolis and The Gravity
Centrifugal terms terms
hn  C n 
18
𝜏1
𝜏2

 We can rearrange these equations to the form


𝜏1
𝜏2

( ) ( )
( ) (0)

19
End of Lec

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