A New M e t h o df o rD y n a m i c A n a l y s i s o fR o b o t

Chang-J in Li

D e p a r t m e n to fA u t o m a t i cC o n t r o l
Be i j i n g I n s t i t u t e o f T e c h n o l o g y
Be i j i n g , C h i n a

Abstract

I nt h i sp a p e r ; a n e wm e t h o df o trh ed y - t h o u g iht as m o u n t o f c a l c u l a t i o n is l e s s ,

n a m i ac n a l y s i s of r o b oitds e v e l o p e df r o m i t is d i f f i c u l t t o b eu s e d f o r t h ed e s i g n

t hL
e a g r a n g e - E u l eer q u a t i o nT. h i ns e w me- of t hceo n t r os ly s t e o
mr fo b o H
t .o w e v e r ,

t h o dc a ns o l v et h o s ep r o b l e m w
s h i c hn e e d s t h eL a g r a n g e - E u l e rd y n a m i ce q u a t i o n :

t o om u c ha m o u n ot cf a l c u l a t i o nw h e nd y n a -

m iacn a l y s iorsfo b o t is p e r f o r m ewdi t h

L a g r a n g e - E u l emr e t h o d . When i t iu
s s e di n is t h e m o s t p e r f e c ft o r mf o tr h ec o n t r o l -

t h de y n a m i ac n a l y s i s o f o p e cn h a i rno b o t l e r d e s i g no fc o n t r o ls y s t e m of r o b o t( t h e

w i t h 6 d e g r e e - o f - f r e e d o m t, h ew h o l ec a l c u - m e a n i n g o f e a cshy m b oiE
ln q . (1) w i l bl e

l a t i n pg r o c e s si,n c l u d i n tgh ce a l c u l a t i o n e x p l a i n eadf t e r w a r d s )m, o r e o v e rt ,hpeh y -

o ft h eh o m o g e n e o u st r a n s f o r m a t i o nm a t r i c e s s i c a lm e a n i n g of e a c h term i nE q . (1) is

n e e d so n l y1 , 4 3 6m u l t i p l i c a t i o n sa n d 1,092 v e r yc l e a r . I t i n v o l v e s a l l t h ec h a r a c t e r -

add i t ions. istics of robd

oyt n a m i cU
s .n f o r t u n a t e l y ,

t haem o u n t of c a l c u l a t i o inls a r g e r when

Introduction
Eq. (1) i s u s e d .T h i sp a p e rp r o v i d e ss a t i s -
I no r d e tr op e r f o r mt h ed y n a m i c o n t r o l f a c t o r ys o l u t i o nf o rt h a tp r o b l e m . T h em a i n

o nr o b o t o r t o d e s i g nt h ea d v a n c e dc o n t r o l idea o f t h i sp a p e r i s t or e d u c et h ea m o u n t

s y s t e fmo r robot, it is necessary t o do o fc a l c u l a t i o n of t h ed y n a m i cc o e f f i c i e n t s

t h de y n a m i ac n a l y s i s of robot. A t present o fr o b o t o r t h em a t r i c e s A(q), B<q), C(q),

t i m et ,h e raersee v e r aml e t h o d s for that a n d DCq) i n s t e a odcf h a n g i n tgh feo r m

of

p u r p o s e s, u c h as t hL
e a g r a n g e - E u l e(rL - E ) , Eq. ( 1 ) .

thN
e ewton-Euler (N-E), t h er e c u r s i v eL a g -
C o o r d i n a t e sa n dT r a n s f o r m a t i o n
r a n g e - E u l(eRr - L - Ealnt,ghde n e r a l i z e d

D ’ A l e m b e r t (G-Dl principlemethodsetc.Each I on r d e r to d e s c r i b teh m

e otion of the

m e t h o dh a s i t s a d v a n t a g ea n dd i s a d v a n t a g e . h a n da n dj o i n t s of robot, it is n e c e s s a r y

F o r e x a m p l et, h eN e w t o n - E u l e m
r e t h o d e, v e n t os e tu pc o o r d i n a t e s y s t e m s o n t h er o b o t

227
0 1986 IEEE
CH2282-2/86/0000/0227$01.00
a r ma c c o r d i n g t o D e n a v i t - H a r t e n b e r gr e p r e -

s e n t a t i o n . W es e tu pt h ec o o r d i n a t es y s t e m s

as follows: OXYZ ti hs0e- tcho o r d i n a t e

s y s t e mw, h i c ihfs i x e od tnh be a s eI. t is

a f i x e dr e f e r e n c ec o o r d i n a t es y s t e m of the

r o b o at r m 0. . X . Y . Z i.ts h ei - t hl i n kc o o r -
L L L c
d i n a t sey s t e mw, h i c h i s f i x e idtnh ie- t h

I i nokrfo b o ta,n d i t s o r i g i n Oc i ts h e

c e n t r a pl o i n t of t h (ei + l ) - t jho i n tF. u r -

t h e r m o r e i, ht a st h ef o l l o w i n gf e a t u r e s : F i g t. h ef o u n d a t i o no cf o o r d i n a t es y s t e m
a n dg e o m e t r i cp a r a m e t e r s
T h e 2; a x i si si na c c o r d a n c ew i t hd i r e c -

t i o n o f m o t i o na x i s of t h e( i + l > - t hj o i n t , If t h ei - t hj o i n it sr o t a t i o n a l t, h e n ai
t h e Xi a x i si sp e r p e n d i c u l a r to t h e Z- it shjeo i nvt a r i a b l eo, t h e r w i s eit ,fh e
L-I
axis or X
i = Z .L - i x Zi, the Yi a x i isds e - i - tj ho i n t i s p r i s m a t i ct h, edn. is the
L
t e r m i n e dw i t hr i g h th a n dc o o r d i n a t es y s t e m j o i n tv a r i a b l e .A c c o r d i n g to t h er u l e s for

A t t h se a m tei m ei,no r d e r t o d e s c r i b et h e e s t a b l i s h i an bg o m
v ee n t i o n ce od o r d i n a t e

relation of t w o a d j a c e n tc o o r d i n a t es y s t e m s y s t e m s , a n dt h ep h y s i c a m
l eaning of the

Xi-i Yi-, Z i - ,a n d 0 . X - Y. Z
L I L i ’
we d e f i n e geome t r i pc a r a m e t e r s , we c a dn e d u c teh e

f o u rg e o m e t r i cp a r a m e t e r sa sf o l l o w s : h o m o g e n e o utsr a n s f o r m a t i o m
n atrix Ai form

ei = t h ej o i n tr o t a t i o n a la n g l ef r o mt h e t h ec o o r d i n a t es y s t e m 0.X.Y. 2 . to t h e co-
C L L
Xi-, a x i s t o t h e Xi a x iw
s ith
res- o r d i n a t e s y s tern 0 . ‘-,X i - , Y b - , Zi-, as follows

pect t o the ”-, a x i s a, c c o r d i n g to

t h er i g h th a n dr u l e .

d i = t hdei s t a n cfer o m
origin Oi-! O f (2)

c o o r d i n ast ye s t e m
I-I Y X- .I-I 1-1 21-1
0.
t o 0 0 1 J
to t h ei n t e r s e c t i o np o i n to ft h e X.
I.
a x ai snt dh e 2l-l a x ai sl o nt gh e w h e rCe € l i = c o s ( 8 . )S,B . = s i n ( B .e)t c . I f we
L c
ZL-~ axis. define Ti a s t hhe o m o g e n e o utsr a n s f o r m a -

li = thd
e i s t a n c fe r o mt h ie n t e r s e c t i o n t i o nm a t r i xf r o mt h ec o o r d i n a t es y s t e m 0.
L
point of t h ea x i sa n dt h e
i-1 X; XiYi zi t o t h ef i x d e dr e f e r e n c ec o o r d i n a t e

a x i s t o t h eo r i g i n 0i o f c o o r d i n a t e s y s t e m OXYZ, then

s y s t e m 0;XiYiZi a l o n gt h e X i axis.
o(- = t h eo f f s e ta n g l ef r o mt h e Zi-, a x i s
to t h eZ ai x i sw i t hr e s p e c t ot h e Me anwh i l e , we c a nc o n s i d e r Ai , Ti a s comp-

X. axis,according t o t h er i g h h
t and r i s i n g f o u rs u b m a t r i c e s :
b

228
 T h es t r u c t u r eo f h ii s

F u r t h e r m o r e t, h ei n v e r s e o f T - ‘ c a nb ce o n -
!/

s i d e r e d a s f o u rs u b m a t r i c e s :

and

F o rt h ec a l c u l a t i o no f Ri a n d Pi , we c a n
6.1 = i si, 8CY si, /
9 x;= Chi& , hi], jiiz
u s et h ef o l l o w i n gr e c u r s i v ef o r m u l a t i o n : I tf h ej o i n t i i s r o t a t i o n a l t, h e n

6, = aL-i\ , ,Ai=~i-,x a.
1-1
(13)

I f< h ej o i n t i i s p r i s m a t i c t, h e n

S e v e r a lI m p o r t a n tR e l a t i o n so fK i n e m a t i c s
Si =O , Xi=ai-, (14)

S i n c e e, a c hj o i n ot fr o b o t may b e rota-
F r o m Eq. (9) a n d E q . ( l o > , we h a v e
tional or prismatic, we s u p p o steh at th e

i - t jho i nvt a r i a b l e of r o b o t is q then

i’
a Ai =Q. A . (7)
a qi 1 L

where

T h eD y n a m i cE q u a t i o n o f Robot

From t h es e c o n dt y p eo fL a g r a n g i a ne q u a -
=

io
Q. 4
(8)
L
0 0 0 0 t ion, we d e d u ctehgee n e r af lo r m
ot fh e
0 0 0 0 , t h je o i n t i is
0 0 prismatic. d y n a m i ce q u a t i o n so fo p e nc h a i nr o b o t :
, 0 0 0 0

therefore

where

We i n t r o d u c e a s y m bw
o ilttm
hhee a n -
i
i n go f

229
 OEZ
I . ... . I
 / mulations for calculating the dynamic coe-
D(q)= (D,(9). D, (q), . . . , D,, (q)I (34)
fficients o f robot.
A(q) is a nxn symmetric positive definite
formulationl:
ma,trix, B ( q ) a nxn(n-1)/2 matrix, C(q) a

nxn matrix with all the major diagonal e-

lements that are zero,D(q) a n-dimensional

vector. And that A(q)h' are o f the inertial

forces, PB(q>t{ are o f the Coriolis f o r c e s

C < q ) G 2 are of the centrifugal forces, D(q>

are o f the gravitational forces.

The Formulae o f Dynamic Coefficients

where

I f define,

(38)

then, we can obtain two groups of the for-

23 1
w h e r e L i j r i s t h ej - t h r o w a n dt h ek - t hc o -
Conc lus ion
l u m ne l e m e n ot fm a t r i x Li, L q i s t h ej - t h

c o l u m nv e c t o r o f m a t r i x L b , V i j ~ i s t h ej - t h A l t h o u gthhoep e r a t i o n s of t hdey n a m i c

r o w a n dt h ek - t hc o l u m ne l e m e n ot m
f atrix a n a l y s i sm e t h o di nt h i sp a p e ar r er e l a t e d

V.
J4
. S i n c teh oe p e r a t i o n s of formulation2 t on 3 , b u t h ec o e f f i c i e n tp r e c e d i n gn 3
i s l e s st h a nt h a t of formulationl, we w i l l a r es m a l l e r , so f o rr o b o ti nt h ep r a c t i c a l

only use formulation2. use, i t s t h eo p e r a t i o n sa r el e s st h a nt h a t

of t h em e t h o d s u c h a s L-E I l l , R-L-E (21,

C a l c u l a t i n gS c h e m e a n d G-D (31 m e t h o d e t c . (4). A n dt,h oe p e -

rations of t h a tm e t h o da r en o t s o large.
F o tr h es a k e o f p r o g r a m m i n g , we l i s tt h e

c a l c u l a t i n gs t e p sa sf o l i o w s :
References
(1) Input: 0; , d; , di , I; ; mi , r.
1.’
L

- d
1; ; i=1,2,. .. ,n. (11 J . J . U i c k e r , On t hDe y n a m iAc n a l y s i s

( 2 I) n p u t : qL , 4.L , <, ; i=1,2,. . . ,n. o f S p a t i a lL i n k a g e su s i n g 4 x 4 Matri-

(3) C a l c u l a t e : R i - i , ~ 3 Pb-1, I R G 9 Pi 9 c e sP, ’h’. D. d i s s e r t a t i oN

n ,o r t h w e s -

b y Eq. ( 2 )a n d( 6 ) ;i = 1 , 2 , . .. ,n. t e r nU n i v e r s i t y A
, u g u s t1 9 6 5 .

(4) C a l c u l a t e : 6; , x; b y Eq. (13) a n d (21 J . M. H o l l e r b a c h , ’A R e c u r s i v eL a g r a n -

(14) ; i = l , 2 , . . . ,n. g i a nF o r m u l a t i o n of M a n i p u l a t oD
r yna-

(5) C a l c u l a t e : L; , H i , M i , b y E q . ( 4 5 ) m i c as n d a ComparativS
e t u d yo D
f yna-

(46) a n d (47) ; i = n , n - 1 , . . . , 2 ,1 . m i cFso r m u l a t i oCno m p l e xt yi , ” IEEE

( 6 )C a l c u l a t e : U i , Vb , W i I b y E s . (48) Trans.on Sys t e m s .M a n ,a n dC y b e r n e t i c s

( 4 9 )a n d( 5 0 ) ; i=n,n-1,. . . , 2 , 1. Vo 1. SMC-10, NO. 1 1 , Nov. 1980, pp. 730

(7) C a l c u l a t e : 6;x H . + M i A i
L.
, lsizn. -736.
v
(8) Calculate: U; 6; +Hi ”A; , W,Si + ( 3 ) C. S. G . Lee, e t a l .D, e v e l o p m e n t of

( 6, x HR+Yk x, > x h i , I S j G n ,l < i < k < n t hG

e eneralizeD
d ’ A l e m b e rEt q u a t i o n s

(9) Calculate: D i j , D c j k , D L b y E q . (42)“ o f M o t i o nf o rM e c h a n i c a lM a n i p u l a t o r s ”

(44) ; l & i & j < nl,< i < k s nl,< j , < k , < n . Proceedings of t h e2 2 n dC o n f e r e n c eo n

( 1 0 )C a l c u l a t eg e r e n a l i z e df o r c e s : F D e c i s i o na n dC o n t r o l ,S a nA n t o n i o , Te-

The t o t a ol p e r a t i o n o
s tf h a nt e wm e t h o d x aD
s ,e 1c 4
. -11
69, 83.
c
a r e 3 / 2+n231 / 2+n 1Z3 5 n -m
7 u6 l t i p l i c a t i o n s (4) S. M e g a h e dea t,iN
. ,i n i m i z a t i o n of

a n d7 / 6 n 3+ 9 n 2+ 5 8 1 / 6 n - 6 5a d d i t o n as c c o r d - tC
h eo m p u t a t i T
o ni m
N ee c e s s a r y for

i n gt ot h ew h o l er o t a t i o n a jl o i n t s . F o rt h e thD
e ynamiC
c o n t r ool R
f o b oM
t anipu-

r o b o tw i t ht h ep r i s m a t i cj o i n t c s ) ,t h eo p e - l a t o r s ,1”2 t h I S I R f r o9m
- 1J1u,n e

r a t i o n sa r el e s st h a nt h o s e . 1982P
. a r i sF r a n c e .

232