UNIT DIFFERENTIAL KINEMATICS

AND ROBOT DYNAMICS

SIA GROUP

FART A
SHORT QUESTIONS wITH SOLUTIONS
Q1. What is "Dynamic modeling"?
Answer :
Modei Paper-", a1o)
and decelerate according
Concept, a manipulator within the work cycle must accelerate, move at constant speod,
mroboluc The
o Tequirenents. dynamic behayior of manipulator is xpressed in terms of time-varying position and orientation. Dynamic
model inciudes external forces exerted by environment, stf weights, inertia forces, frictional forces, loads, Coriolis force due
to rotation, sliding in one link and internal forces or torques, A set of mathematical equations are used to descnbe the dymanic
behavior of the manipulator with respect to input forces or orques. The dynamic model ofa manipulator is useful in computatuon
of torque and forces required for petfoming a job at wor station in a logical order. Dynamic model also providesinformation
for analysis of motion of links and design of links, joints|drives and actuator. Lagrangian-Euler (LE) and Newton-Euler (NE)
approaches are applied to develop the manipülator equationof motion. D'Alembert principle is also used to provide an "equivalent
forcedynamic model.
Q2. What is meant by "robot arm dynamics"?
Answer
Robot Arm Dynamics
The robot am motion, that can be determined by orming mathematical equations is called 'robot am dynamics'. The
dynamic equations describes the motion of the manipulatdr. These equations also helps in the robot am motion analysis for its
design and structure.
The actual dynamic model is designed based on theNewtonian laws and Lagrangian mecbanics, which is used to estimate
the geometry of manipulator and joint variables. The actua robot arm dynamic equations can be framed frorm Lagrangian-Eule
and the Newton-Euler formulae. These equations also enable computersimulation of dynamics of robot arm.
Q3. Write about forward and inverse dynamics
Answer
Forward Dynamics
Forward dynamics is used to determine the goneraliz acceleration, by aualysing the forces aeting on each linkoftherobo
Inverse Dynamics
Ioverse dynamics is used to determine the joint torques ofthe links and manipulator trajectory planning algorithm for h e
required motion of the joints.
The forward and inverse dynamics are shown in the figure.
Fowad.dynamics. a.

Invee dyaamios

Figure
Where,
Joint torque () and acceleration (o) are the fanctions of time (t).
.
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Kinematics and Robot Dynamics

[JNTU-KAKINADAL UNIT-4 Differential
HOBOTICS
4.2 Wrist singulaerities
Q4. Write short notes on forward iteration and backward iteration. Arm singularities
2
Answer Wrist Singularities
Forward Iteration
to calculate the velocitis and accelerations of al! the links starting from
the base tó the
Ii is the recursion process, used angular velocities are zero and
end-effectör. It is also called outward iteration. Boundary condittons this
of process are
linear and
the boundary acceleration is equal to the accelèration due to greivity.
Backward Iteration

tis also a recursive proces, used caiculate forces and homents it

to at each link
with thc help of Newton-Euler formulation
of forward proceks, since, atarts the iteration fróm end-effector to the bas, by
t is also caled inward iteration. It is reverse
considering necessary boundary conditions. Z3
of eachlink are calculated, followed by the computation of forces and
In this, the forces and moments at mass centre
moments at cach jointin reverse process Figure
equations.of
Q5. Differentiate between Newton-Euler and Lagrangian formulations in findind the dynamic When the three vectors z. 7.
Wrist singularities are caused
due to the motion of spherical wrist. nd

motion. other or when axcs ofany

two revolute joints are collinear, it results in a singularcono
ngration
relation with each
Wodel Paper-V, 016)
Answer
2. Arm Singularitiescaused due to the motion of arm, consisting threc or more links in the conhguratuoniis knaw
The singularities
Newton-Euler Formulation Euler-Lagrangian Formulation
1.t isa force balance approach. It i_ an energy based approach.
The cquation of motion is derived using a scalar singularities. Itcan bestrudicd by computing the Jacobian function
ofsingular configurationofanam
2. The equstion ofmotion is decived by computing
followed to obtain a dynamic equation?
linear and anguiar accelerations. function (Lagrangian). Q8. What are the steps to be
3. Thecomputations are less complex. . The computations are more complex.
It is suitable for formulation of simple physical Aiswer
It is not suitable for formulation ofsimple physical 4.
foilowed to obtain the dynamic equations for a manipulator are,
The steps o be
mterpretations. interpretations.
at a point in a link.
More time consuming method. 1. Determination of velocity
5.Lesstime consumingmethod. Determination of kinetic energy of a link.
6. t isdificult to derive advanced contro>laws. 6.It is difficult to computereal fime control problems. 2
link.
Q6. Define Lagrange function and state the Lagrangian expression to obtain dynamic model. 3 Determination of potential energy of a
4. Obtaining the Lagrangian formula.
Answer
of the manipulator
Lagrange Fynction Differentiating the Lagrangian cquation, gives the dynamic equations
energy of systen is defined as Lagrange
The algebraic differeoce between total kinetic energyand total potential a

function or Lagrangian". It is denoted by

i e , L KE-RE

The dynanic model is given by a differential equatión,

aL dT, for i= 1,2,

Where,
LLagrangian
energies
9, and 4-Generalized displaceménts of kinematic an potential
-Joint torque for joint-7
If,-0,then joint P is tixed.
If,#0, then moment of manipulator is obtained by theactuator joint-T
at

07. What áre thé singular configurations ofa spherical robot?

.
Model Paper-4, Q1d)
AnswerT
The configurations for which the rank of Jacobian () deceases called siogular configurationsare singularities. Since,
are as or
the into two
fhe manipulator configurations are geometric quantities and ardindependent frames, singularities decoupled
of

oms. Thus, the singular configurations of asphericairobot ar S I A GROUP

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 ROBOTICs JNTU-KAKINADA]
PART-B UNIT-4 Differential Kinematics and Robot
Dynamics
ESSAY GUESTIONS WITH i s the end
effector linear velocity vector For two link manipulator, the link
4. DFFERENTIAL
TRANSFORMATION sOLUTIONNS ie, Y-{V, V, V as foliows, transforumations ars
singularities of manipulator?AND
W is the end effector
sina:
AnSwer
2rs the
a
MANIPuLATORS,ACOBIANS
How are they classified and PROBLEMS
angular velocity vector

determined? Explain briefiy. The matrix whiçh gives tbe relationship between
Singuaritis of 2
Manipuiator Apaiéay-13, Set4, C7 . Mdel Paper-V. CQ{a velocities and the corresponding angular and linear theioint
end etfectoris known as velocitypf
heofgio. at wRh
man1plator Jacobian J"
geometricjacobian.
: rs
have
strgularites *i boUdary of their becomes.non-invertible is termed as Jacobian Example
workspace and have loci of singularities. Al the Consider an anthropomorphic manipulator with sperial
singularitües inside their workspace. wrist and thecorresponding jacobian is of 6 x 6 matrix.
a ne
ozi o ena ef+ector
i
orspace - Boundary singutaritics
in
worspace, the singuiar conizuration is classifizd into The jacobian matrix is
determined by the folowipg 1
two
categories. procedure;
sa2* - insr:r Singularities. I. The differentiation
of direct kinematic function wh
Rundar Singularities respect tojoint variables leads to the formation
analytical jacobian.
singui2rit:ss occurs, wien the end efector
o

is
i a t T :s liy reiracted or fully rear
or on he boundary of
streched. workspace. It also occurs vheD o o 0. 1
Icerior Singu!arities Where, Where, and the
are lengths of links () and
p e di singuiartis ccars. when the end -Rotational velocity respectively.
ealy caused wten tao or arore joint axes ei+ector is away from the boundary of workspace. These The angular and linear
Dterminatiua oí Siegelarities
becomes collinear. singularities are
P:Translational velocity. in matrix form ægven by,
velocties of2-ink manipulazt
Determining the each
joint velocity with the
T t e a i singulariies car be
determined by analysing he rank of coTesponding end-effector linear and angular velocitis
Tx ses is Tars ard is diernant will
be eliminated. . Jacobian marix. At joint variebles q', the Jacobian Thus, the above procedure leads to the formation
geometric jacobian.
Te singuiarizy is deiermined
Q11. What do you mean by Jacobian? Derive t
by sinpifying the problem isto two separate Jacobian matrix for a
probiems, planar24ink revolute
Dernatior of singuiarities from motion
of three
joits, kpowa as.an singularitis jointedmanipulator.
terminerion vf singulari:ies from motion of Answer
wrist joirts kpown as wrist singularities. Jacobian Matrix
The etove methods are chieved
by dividing the Jacobian inatrix igto four seb
matrices Jacobian is the matrix of first-order partial derivatie
For robots,
the Jacobian relates the end effector velocity wh
the joint vekocity.

Q10. What is
Jacobian Matris fora Pianar2-inkRevolute Jointed Manipulatr
a gecmetric Jacobian? Expiain Consider a link planar manipulator, howa in te
two as
ÁnSwer: following igure,
T icobiarn is an important tooi fof manipulator charecterization.-itisusefiul for finding singularities, detérmining inverse
mSCS algorthn, aralysing redundancy, describing the mapping betweenthe forces applied on end effector and torques at
t 2spetve 1o1s
The jeuoben of any robot manipulator structure isreiated with enii eTector linear and acgular cartesizn velocities with
te indir:dusi joist veiocitües.
e ceuat:or for jacobian matrix is given as,

Wber
Ke) -

Jacobian matrix
-Joint velocity vector.
i
e.9 iê.è,., -
Figure
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 46 and Robot Dynamics
ROBOTICS IJNTU-KAKINADAJ UNIT-4 Differential Kinematics
To obtain the velocities wth respect to base. the rotatien The Jacobian is.
matrix "R, is given by. Where,
J=s s8, +8) so0, +8, C, c o s , and Ci =cos(0, +0,)
cs coste,+0,) 4,cos0, +9,)j S, sin , and S, =sin(®, *9,)
°RRR, The end-efector velocity is.
-45,8,-5,(0,+8, OPe.a =6, +0,
-C-4G:(0,+6,) dHsn-4stg,+8,,sinte,+9, Differentialing the above threc expressions,
Jacobian
Consider mkinematic (end-efector) equations. Each is
a function ofn degrees of frecdom.
,cos 8,+,cost®,+0,) cos,,1 =(-,5-a,51)8, -(a,S,)®,
The end efector's angular velocity is the sumofthe joint - a,C,8, +a, C6, +
,0.88) vclocities
08,...) 012. Find the Jacobian for the two link planar asm }=o,C, *o, C), (a,Cu)®
shown in figure. = 8
* Substiuting, these valucs in equation (1).

ie., -J®
In case of non-redundant man+pulator m =n

The time derivative

of the above equations is as follows, =a,C+0,G2 a2Gi2 ||

-a, sin 6, -4 sn(9, +0,) -a2 sin( 8, +02)

"
a, cos8, +a2cos(e, +8,) a, cos(0 +8,)
d Figure
The above equation can be, itten in vector fom, Answer: Model Paper-, 046) Q13. Determine the Jacobian of the 2 DOF arm shown in
figure and determine the aingularities of thee
28 Jacobian Matrixfor Two Link Planar Ari. :

The matrix is called the "Jacobian", of which End effector

elements are the partial derivativs of kinematic equations.
'

The relationship between the end-effector velocity andthe joint

velocities is fully described by the Jacobian. The end efector
velocity is a linear function of the joint velócities.
****

Figure
Answer :

J=
Base frame
Figure
Computing the Jacobian matrix that describes the
relationship,
.(1)
The end effector position and orientation is defined in
the base frame by, Figure
Computing the Jacobian matrix that deseribes the relatiouship

Let, the end effector position

and orientation is defined in the base frame as,
Figure
From the grapbicalmethod
The forward kinematics gives relationship of the end
effector with thé joint angles as, The forward kinematics
gives relationsbip of tie end effector to the joint angles a,
y-j sine,+h sin(®,+®) OPzio 4tda
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A.8 UNIT-4 Dferential Kinermatics and Robot Dynamics
ROBOTICs [UNTU-KAKINADAI
am shown in figure.
!»tierentiaung the 2bove three expression.
Computing the Jacobian matrix that describes the 015. Compute the Jacobian for the spherical
relationship as, L
reyolute
-dc ... (1)
Sutbstizute, * sJg.0 n the nairix form, The end effector
the base îYane
position and orientation is defined in
by. Prismatic

revolute
The Jacobian provides a linear transformation that gives
bth veiocity and a force map for a robot manipulator. The
cqLation is insigniticant for above case.
Figure
The forward kinematics gives relationship of the end NoV.-11, Set-3, Q5| Modei Paperil, Q20
Tor inding singularities of the am, Answer
eifector to the joint angles as, D-H parameter for the given sphenical arm
J8)
OPox =a,C, *a,C12* ag123 Link
0-d
But, J)-o d,c Where,

JOy detJ(O)|
4d(O)) C cos
C cos(,+6, +0,)
Consider the determinant matrix of order 2 2
S sin &,

S123 sin(8+6,+8,)
det) o d2c21 OPony a , , +a,S * aS123
The overall homogeneous transformation matrix igiven by,
Od) S)=0
det Je)= 0
OPseaa-6,+8,+8
Therefore, det/(O) is not a'function of 6. Differentiating the above three expressions,
The singularities for dez at joint 2 i.e., 8, varies from 010 o
9,)
-a5,,-aa(Ó +ê,)-a,s (ô,
+ +
0 tO T. 0

Q14. Compute the Jacobian for the three link planar ( - S - a2-sSi) -(aS2+aS123)2
arm shown in figure. (S23)63

S,C2 C S,s2 oo0

Substituting the values i.e, (*, ý

and &) in equation (1D
7777 CC-S GS CS,d
Figure T -S
Nov-10, Set4, Q5
Answer C C2d
dacobian Matrix for Three Link Planar Arm -,S-2-a,Si2s a,i2aS23i2»
Considering the last column of homogeneous mars,
three link planar arm is given
Therefore, Jacobian for the

+03)
- sin -a sin(, +82)-a,sin(6, +ea On differentiating the above equation,
cos(@, +, +8,)
Jcos ta2 cós(91 +6,)+4,

cOs{, +0, +0,)

Base trame aa cos[ +8,)+a,cos(+82*84
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 Kinematics and
Robot Dynamics
Differential
UNIT-4 the relaiIonship as.
4.10 ROBOTICS [JNTU-KAKINADAI Jacobian m a r i x
that describes

Computing the

and orientation. is defined in the base frame by,

The end effector position

effector to the joint angles

relationship of the end
as.
0+-S4i0 +[Cid3 The forward kinematics gives
Rcarrariging the above equations in matrix form,

-S ,
OPoae, +0, *8,
Therefore, Jacobian matrix for the given spherical arm istgiven by,
Differentiating the above three expressíons gives,
i - 1 - 4 , +0,) -1,2 (, +®, +ô6)
-S4 C
Q16. Detemine the Jacobian of the 3 DOF Euler wris and also determine the singularities of the wrist
Answer
The singular confgurations of pBanar mechanism can be descr+bed bydegeneracies of the coresponding velocity equation
which is of the fom, + +
J,i+ê=0
Where,
-x$]l is the vector of generalized coordinatedefining the posè of the panar (mobile) platform.
-Vector of input coordinates
3 Jacobian matrices.
J and J are3 x

Two main types ofsingularities are defined. The Jacobian provides a

linear transtormation, giving a velocity map and a forcc map for a robet manipaizkz Z
above case, the equations are insignificant.
Type : when det /J,l=0
The
Type II when det|J,I=0 End efector end effector moves with a certain velocity in Cartesian space. Using linear transformaticn, relating tie omt vec
.

A Yo. the Cartesian velocity, joint rates at each instance along the path.

-4-silhi-hsa-23l2
det ro)j=16+htlhi 2t'°i23 123
1
detVo)- =0
.

detiO)] is not afunction of , 9

Q17.
Fora planar RP manipulator, derive the Jacobian matrix and find the
Answer : singularities.
1
Consider a planar
a matnx quantity called themanipulator
in motion. By
performing velocity analysis of a
velocities in Cartesian space.
"Jacobian" of the mechanisn,.in
manipulator. The Jacobian specifies a mapping from
ioin! at
verca
The geometrical relationship between joigt rates and velocity ris caled Jardba

Báse fram
of the end effector described in a mairt
Joúnts The natire of Jacobian mapping changes, as the cale

Figure: 3-00F Planar ManipulatórwithRevolite

poicts,
singularities'", mapping is
this configuration At Cartesian
of the imanipulátor changes. At a
.. non-invertible.
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4.12

The Jacobian is a
mulud1mensional form of the
deriva- ROBOTICS IJNTU-KAKINADAI, UNIT-4 Differential Kinematics and Robot
ive The vector ro:ation and siN
unctions are as
foilows, Dynaics
y Fx) Link transformation matrices are as follows,
C-0 C
S C 0 S
2/2x;,*2*s) 010

Differentials of y, with respect to x

3,9,+,0,+6,
Sa C 0
S,i
5-,0,+6
+.
,-4C+1G,+9,) 0 0 0 01
Transformation matrix of frame 12) relative to fYme {0} is obtained as follows,
yx 6.
Singularities
GC-SS -CS-5, o C+CC -S,S]|
F CS +S, C2 C,CS, S 0 .S+C,S, +S,C,|
1A
Manipulators have vaBues of 0 where Jacobian becomes
Singudar. Such locations are called
T
The 6 x 6 nmatrix of partial have singularities at the singularities.All the manipulators
derivatives in above relation boundary of their workspace and have
is called Jacobian matrix.
loci of singularities inside their workspace. Singularities are
classified as, C-S: 0 G+Cal
Differentiate both sides with respect to time, () Boundary singularities i212 0 S,+Si2
(i) Interior singularities,
Examine determinant of Jacobian matrix, 0 0 0
For planar RP manipulator, Jacobian reiates
ties to Cartesian veiocities of the tip of the am.
joint veloci- Where,
detE) =
Example Ccos,
Q18. For S sin ,
a planar RR manipulator, find the linear
Where, velocity and anguiar velocity of the end effector. C2cos(O, +6,)
Answer S2 Sin (6, +B)
8-Vector of joint angles of manipulator
Linear and Angular Velocity of the End Effector Linear velocity of link-I is given by,
v =Vector of.Cartesian velocities. ,

Let the end effector (P) has frame of referernce (2.

In
Jacobian matrix, the
number of rows is
equal to
the Velocity of the point P in frame {2} can be cxpressed with
umber of degrees of freedom in Cartesian space and number Tespect to both frame {1} and frane {03. RR manipulator is
of columns is equal to the number of joints of the manpularor.as shown in the foliowing
For planar manipulator, Jacobian should have more than S rows figure. Where,
2
and muliple columns.
-S-C0 -S,|
CS 0 C
0
2

1)

D-

And, 'D,-Origin of frame {1}

*****:-:

I77777
-C|
,-
Figure: Planar RR Manipulator 00
et, 1

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Kinematics and Robot Dynamicss

4.14 UNIT-4 Differential
Jacobian matrix J(a) of the five axis spherical coordin
rdinate robot.
Angular velocity. (o,) ROBOTICS [JNTU-KAKINADAJ Q19. Find the manipulator
Answer . of robots, which are a set ot ngid
links connected together at various
For kincmatic analysis jOints. a
matrix (i) J(q) is used. Generally a
manipulator consists of. maniputaao 2
Waist rotation
(i) Shouider rotation
Where, o (111) Elbow rotation
and
iv) Plange rotation
(v) Wrist rotations.
tor sphericat coordnate
axis {ive axis system) is shown in f
The coordinate frame arrangement a
hure be
R,-0

Velocity of link-2 relative to base frame is obtained a follows,

Figure
Orientations
Rol, pitch, yaw
D-Origin offrame 2 =| Positions
Translation ofr units along the OZ axis, rotation of "B° angle about OY axis and a rotation of 'a' anele ahaue 07
Establishing the jointcoordinate frames using the LD-H coaventiOn (Denavit-Hartenberg representation), as shoun ing

hgure
SC-CS SS-C 0 -S-S,C-CS2 The link parameters are shown in the table below.
-5,5,+CC -5, C-GF2, 0 C-SS,+CjS.| Link
0
0 90
0 0
d -90*

-CGS-SC -GC+S, F 0-C S-S,C -90

GC-S S, -C,S2-S20 GCG-S,S2
a7) 0
L90°
0 0

Table: 0-H Parameters

The matrices A,
-S,-S(+02)
G+Cj+è:) C0, 0
0 4
0-10 0
0 0 0
Angular velocity, () 0
+7 Z,0 S2 0-C 0
A0 1 0
d
0 00
6 0 0 1 0 [100 0
0. 0 0 1
01.0 0
Ao01 d
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4.16
UNIT4 Differential Kinematics and Robot Dynamics 4.17
ROBOTICS [JNTU-KAKINADAI
Answer
S C 0 of respective links Therefore, to calculate
the position and orientation of arm, consider
Ler, a, a, and a, are the lengths
the frame, as shown in figure.

C S, 0

(Here, o,
0

Figure
From the above figure, joint link parameters for articulated arm can be formulated as,
S C 0 o

o0 0 Liok
.

1 5 gven as. A4 2
3

Transformation matrix can be wmitten as,

here, -S8, Ca S8, Sa

Ce, Ca -C8, S
CCC c,C-S, S)-S,5, C-5,S, C,C+C,S HU, So Co
0

a-SC S-S,5)-C5,C Therefore, the transformation matrix for link- 1,

U,0 10 0
2 SC C SS Cl+CS,S
iCGG,+S, C)-S,5 The transformation matrix for link-2,
as5,(CCS, +S, CJ+C, S,S,
C 0 a2 S{

4, S S d, +C,4-d{CS,S, + GCS, S, +C S, S The transformation matrix for

link3,
4-C4t4KC, C,-CS S
020. Determine the Jacobian matrix which calculates linear velocity of the tool tip
manipulator shown in figure. Joints J, and J2 are perpendicular and joints J
from
the three joint rates for the
and J, are parallel.

01.0
Revolute
The overail
yoiu transformation matrix for the end point
ofarticulated
z
arm is iven as,
8
On multiplying
RevoluteU

S C2-S, S2s -C S,(a,

Cz3+t2 C2)f
hgure S23 , C»
Nov-11, Se2.5| Model Papér,Os0N

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 Kinemeics and Pobot Dyramics
DFeerta
UNT4
4.12
POBOTICSTUKDA -Saz*2
+
sin

-5,o-5: -a,5,z

c21. Stow three

that tne of
diferertiai rotations
respectrely zre equrraiet toa dHeremional rotztion of
ix, ëy and iz made in ary order äbout the
about axis K
y.and x. z zz

hnswer:

Cafasf
1

nata ian {2; 2nacted u a Figare

rgi vty aré it it rotzted abrra frame {1} at time f ad (t + drj resgett
Tre
ianannatsn mTI vith rpa tiTe
'f ven by,

tiionds -3] ira 2' ia itaitet

irj wrsidesing te fized referene freme
e
adETV {1} and frae {2, 2ini
{2; wit resped to freme 12; by an rotating
tine 'di. n , TOatin of frame 2. 25
zngle "8 1s gven a.
KYG)-K_S(9) K, K,V19)+ K, S() 0
afrs+afa y9)-C%
, KyG)- K, 5(5) K, KVI9)+ K_S{9)
KV16)+ C
Whes,
Cco, 9 - sins, VUg)-i cosh
and K- th, K, K
-

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 42
ROBOTICS (JNTU-KAKINADAJ UNIT4 Differential Kinematics and Robot Dynamic
sonsuderd as smai:. hen sine dandcosf 1. FORMULATIONSPROBLEMS
NEWTÓN, EULER
42 DYNAMICS LAGRANGE, EULER AND (inverted Pendulum) with Lagrangian-Euler formulation
us RT0 ' d u r e si0, Q22. Establish the dynamic model of a one-axis roþot
Answer :
is developed by the Lagrangian-Euler (L.E) approach,
for the dynamic behavior of th manipulator
The dynamic model the igid pdy motion.
which is an energy-based approach, considering
difference between the total K.E (K) and
or lagrangian (L) is a
scalar funttion and is defined as "the
Lagrange function
the total P.£(P) ofa mechanical system".
a n 2: is obiained by considering L=K-P
homogeneous transformation relative to frame 'A coordinates to describe the system variables
TheLagrangian-Euler dynamic formulation is basedon
a set
of generalized
is from the Lagrangian, as a set ofequations.
(4) The dynamic model based on Lagrangian-Euler formulatioh obtained
Sabstiuang qatiss(} inii\
(for-1,2 ..)
..(5) The left hand side of dynamic equation can be inteicepted as a sum of the torques or forces due to kinetic energy ang
thee joint torque for joint i that is displaced by the actuator i. If
potential energy prescnt in the system. The ight hand sidet is
i does not move and movement is nodifñed by the actruator at joint i. .
0, it means
that joint if7,+0, themanipulator
Setsttstng ) Éo equaton (3) in (S), Dynamic Model of a One-axvis Robot

Figure below shows a single-link pendulum torque stansmission berween motor and load link

Couplngd
gear edCon 8,

Motor
Let eh* speed of angula: 1oc2tion of frame {2} abou K-axis.

gure (1)
Le
-KK-ê
-K-9T,) 8,-Angular displacement ofthe link
-Angular displacement of the motor shaft
Gear ratio or speed ratio of power transmission berwgen motor and link

-K, 7,4) - (6)

G Applying Lagrangian-Euler formulation,

LA tie vector o2'is directed aiong K-axis. Kinetic energy of the system (K)- l%
The vecor*o2'is equiveleat to three rotations of or, öy and öz about z,y and 2 axes respectively.
Where,

a )=®=Angulax speed of moto

)-8,-Angular.speed of link.
in any order aboutx,y and z axes are equivalent to differential rotation -Mass moment of inertia of motor (kg-m
c hree iferenial ro1ation of ôx, oy ard &
Mass momeat of ineria of link g-m)i
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 4.23
Dynamis joint torques or for
forces of
Kinemais
and Robot expression for
the a pianar
OTsrentiel
derive the
UNT-4
ROBOTICS UNTUKAKNADAT
formulation,

Lagrangian-Euler

Using
Q23. R P r o b o t i c manipulator.

shoun in figure belot

as
manyulator
P:obotie
parr R
Corsder a

f liex-2
Mass n a

Fgur
-s
Figure
is,
for inks of the given manipuiator
tensor matrx
The ineria

Le

Mass o link-i {Retetien ink)

-Mass oflizk-2 (Movable ink)
-Distance ofink-i rom
cente point O to mass centre
*0' to mass cente of ink 2'.
- Variabie distance ot ink-2 from centre

Te equation of motioa using Lagrangians-Euler's principle

is,

KE of ink-.
T-B

KE of link-2,

T h e tota! kinetic energy.

Potential energy of link-1.

Ealer-Lagrengan form
U mg4, sin0, +m,,g
aEriepaingeerizzdcoordinzte
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 4.24
4.25
P'oeniai eneigy of iins-2.
ROBOTICS {JNTU-KAKINADA NIT-4.Differential Kinematics and o variables, link lengths
and masses
of the link-i and
be the coordinte frames, joint
iere, {0}. {1}, 8, 8 , h and m, m,
# S in maximUm Let,
extension ofjoint 2. respectively.
The toa poUTal cnergy, Kinetic energy of a lirk is given by,

Partial derivatives ot Kiaeluc energy and

Km
Dotential energy is given by,
are, velocity (V,) for link -I
ikim * +l *m, d ye, Linear

Angular velocity (o,)

for link -1 is given by,

link -I is given by,

gtm +nmad,) cos e Moment of inertia (,) for
m Sm 8

m, +=, +m, d5J8, +2 md, é, d,

+(m/, t md) cos ,8
d -m,a, 0f +msin 8,g
M®) =
n+1+15, tmdi) o Potential energy (P,) for link -I is given by,

2 m, d,0, di P m8 sin 6,
..

Fi6,6 -m2dz 6; The coordinates of centre of mass of link -2 (» 2) re given as,

(ml, +md,) cos 6, 8
G(6;= cos + 4cos(e,+0)
dm, sin ,g
24.
Derive the
expression for the joint torques of a two link planar revolute jointad robotic manipulator a sin8,4sin(6,+8)
using Lagrange Euler formation. Velocity of link-2 is obained by diferenianing z ad y2
Answer Maytune-14, Set-3, 061 Model Paper-V, Q2ta}
Lagrange-Euier formulation of a planar 2- DOF manipulator with both rotary joints and having unequal links as shown
the gure, is obiained by using direct geometric approach.
P 4 cos +4cose,+8) (é, *8,
Velocity at the end of link-2 is obtained as follows,

Where,
C-cos
S sin 6,

C-cos(8 +0)
Sia-sin(6,+0,)
Figure: Two Link Manipulator
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Kinetic energy of link -2 Robot Dynamics

is given by, ROBOTICs UNTU-KAKINADA UNIT-4 DfferentialKinematicsand
Similarly, for joint (2)
K 4

Potential energy of link -2 is

given by, Substituting dddLin
ae,' di08, equation (2), ve gei

Pm,8, +m8,8,2
agrangianl =K-P
(K, *K)-P,+P) Therefore, the torque equations t, and t, for joints 1 and 2 can be writen in generalised fom as shounii
Substituting and simplifýing K,. K, P, and
P2 values, e get, MO,+ M+H, +G,
M Ma* H,+
Where,
- M-Effective inertia

: . M-Effective coupling inertia

Torque r, at joint 1 is H-Centrifugal and coriolis acceleration forces.
obtained from the foliowing
relatfon, .

M m
MaMm
e 4-- -44caa*) H-m454, ,-m,145,6

Satindts dL ddLin equation (1), we get, Gm Cr28

025. Explain Newton-Euler formulation for a robot arm.
Answer:
Newton-Enler Formulation for a Robot Arm
The principles iavolved
in Newton-Euler formulation for a robot arm are Newton's
set equations of forces acting oo the robot manipuiator and results in second aTest
This gives the of
such as velocity and acceleration are
giveu by forward rec a
e cs d
given by backward recursion
recursion, whereas the dynamic eq tor ze 25
In his formulation, the
known, while the joint torques are determined by usingposition, velocity and acceleration or u
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nN er Ie
motid ponmneieis of the Jomis ROBOTICS IUNTU-KAKINADAI DIforontial Kinomatics
and Robot Dynami
involved UNIT.4
raUY ende ot mass
of the link in tobotie manipulator, Linear velocity,
, Prismaticjoint
"D,- Revolutejoint.,
0,
Newton-Euler
(), D , ) Euler-Lagrange and
Acccleration oflink ,
"

of the
Asanangd nk 'r ot tnY
manipulator with single advantages
and disadvantages
mss d e a ienst. Lhe degree of
torqucs md acceleration of trecdom, whose mass distribuirion depcnds on the
Q26. What aro tho apparont
formulations?
.. he link are furnctions of mass eentue andp0Siton
merua
Auswer formulation,
and disadvantages of Euler-lgrange
Apparent advantages
Formulation
Advantages of Euler-Lagrange which is easy to understand.
formulation follows systematic order, and Coriolis forces.
Euler-Lagrange centrifugal matrix
consisting inertia matrix,
of motion in a short analyticalorm
2. t gives the equation for control designs.
This analytical form is useful
deformmations.
3. t is effective in flexible link
Formulation
Disadvaotages of Euler-Lagrange recurence motion.

Euler-Lagrange equation any forward and

of motion does not have

the velocity atmanipulatorjoints.

2. Its equation require specification of

3. kt gives inaccurate results, due to complex matrices

Euler fomulation
Apparent advantages and disadvantages Newto
of
Formulation
Advantages of Newton-Euler
method effectively.
Figure: Geometry of Link 'n' of Manipulator . Newton-Euler formulation computes the rectsive
The wo end famesof the link are {n} and in- 1}, whiie frenme {0} is the refcerence. From the
figure, 2 t can provide solutions concemed to direct dnamics and inverse dynamics.
C -Cenue of mass of link-n forces and torques
3. It gives the equatior of motion of manipulate joints, end-effector
m,- Mass of link-n
inertia iensor of link- Disadvantages of Newton-Euler Formulation
1. Newton-Euler formulation of simple physica interpolation cannot be handled easily.
-Linear velocity of centre of mass of link-n
2. It requires sofrware tool to manipulate the roßouc parameters such as joint coardinates, joint angies, iengths, kine-3
-Linear acceleration of centre of mass
matic structures etc.
a-ngular velociny oflink»n
O-Angular 2cceleration oflink-n. 3. it calculates the forces, which do not effect temanipulator.
From Newon's second law of moüon, the forces
Q27. Obtain the dynamic equations for the two-ink manipulator shown in figure. Assume that whole mass
acting on the link-n are given by, located at the outermost end of each link.
of the link can be considered
as a point
mzss Themasses
(1) are m, and m, and the link lengths are a, apd az.
Where,
F-Force acting on linkn at the cente of mass
FrOm the Euler equation, total moment of the link-n,

... 2)
Where,
,-Gyroscopic torque of the Iink due to the dependence ofinertia tensor (,) on its orientatioa with b£se
Tame or relerence.

us, equaions (1) and (2) represents Newton-Euler equations for detèrmining both kinematic equations and dynamic
equations of the link-'r"'.
Angular velociry," Figure
0 Prismatic joint Answer Nov-10, Set3 05
The frame assignment and the joint link parameterfor the given two-tink manipulator is given below,
- Revolute joint
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4.30
Kinematics aird Robot Dynamics
ROBOTICS JNTU-KAKINADAJ UNIT-4 Differential
A3
For revolutejoinis(1) and2), we
have, MTid) Tsd,h.d
M ma (a.C*a, m, a
0 M Td,4i)= m.
M M TKdl4)=o
The Coriolis and
centrifugal
calculaicd by the lormule given below forforce c
for fwo slcndcr links wath | calculatied i..k-
The inertia tensions / and/, - 1.

and m, 15 gJVCn by.

pont m2sses m,
Figure: Frame Assigamentfor Two-link Manipulator
P=mant.jkl 09;
Joint link h 0
parametersS for RR
non-planar am are,
Link Liak Link Joint Joit 0 0 0 m,
length Twist distapce Ane C8 S8; Co So%
oCCm-a5C-a5)
90 o00 a5,CmaCC,*a,C)-0
0 0 0 m2
General transformation matrix, caiculated using the
The cocfñcients d, for i.j=1,2
are

equations given below, aCSmaG-a,c)-

C8,-$8,Ca, $8,Sa, a,8
S8 CB,Ca, -C8,Sa, a,S0, °7, , for jsi
4, for j>i mS aj C,+a,a)
Sa, -Ca,d
d="T9,7 haAa T T,2,T0.7L
aSSma,5,-a,5)
The link transformation matrices are,
-50 C -aS aCSma,G,+6,)
C0 S aC
S0 -G 'a,S 0 0 0 0 mS( a C, +a,a)
0
o o o
0
}
hgaha7,7,9,T07,4
The Coriolis and centrifugal torque terms anecal
by the formula given below,
C-5 0 e,}
-SC SS C -a2S,C-a,S,|
CC-CS2 S -a,GC +a|
Thc overall bransformation matrix is given by, 9,
T,-
On simplification.
-CGS-CG0-4,GS|
1-51 -S,C, 0 -a2S1S2
H-mSai$C * a,4,)9-4;
Similarly,
-S2
H,-mSoG*a4)6,
The elements of inertia matrix Mare calculated by using
S-S,-G a,5+a15| the formula given below Therefore,
2 ahS2 -2m,5,1aC,e,

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As the mass o! the cxh ink IS concentaed ROBOTICs (JNTU KAKINADA

t the end
The Jacobian for links (1) and
(2) are given as,

And, as the giav ity S ACtng, in

negative r-direction with
speet to !rame f0},

Thetore. the gravity loading at joint (1) is given by,

Where.g- 98i ms These links do not contribute

any angular accelerations.
In order to
Simlarly. at jont-2,
of linear
express rotor kinetic energy as a function
the
velocity of the rotor centre of
mass, the Jacobian is
computed as,
Substituting all these velues, the equation of motion in
the vector matrix form is obtained as, Jm)-0 0
o
.1ma +a,Ca+a,) m, =0 o
o o
0

-2m,5(aC, +a,a,)0,0».F 0 Where, K, is the gear reduction ratio of motor-2.

mga,C] And, Z, [i o o}
=

mS,(aC +a,4,)6
.

The inertia matrix (B) is

given by the summation of the
above components relating to
Q28. Obtain equations of motion for the two-link singBe link, single rotors and the
total kinetic energy
Cartesian arm shown in figure using lagrange of the manipulator
with actuators as given
fomulation. m, and m, are the masses of below,
the two links,
mm, and mm, are the masses of
rotors of the tw joint motors. Im, and m, are
the moments of
inertia with respect to. the axes
of the two From the above matrix, it can be noted that, the inertia
rotors. is assumed that the motors
It
are iocated on the joint axes. matrix (B) does not depend on arm configuration.
Aiso, C= 0, since there are no centrifugal and Coriolis
components.
The Jacobian matrix considering the gravitational turms
is given by,
&-[0 0 -s
8 (m +m +,
&0.

Neglecting the friction and üp contac1 forces, the

can be written as,
equation of motioa

Figure
Answer Nov.-11, Set-4, Q5 | Model Paper-ll, 03) forces applied to the two jonts
and t, are the
veclor From the above figure of two-link Cartesian arn, the
geieralized coor dinates is,
.

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