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Unit 2 Robot Dynamics

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26 views64 pages

Unit 2 Robot Dynamics

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Pragati Sharma
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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INSTITUTE OF EGINEERING & TECHNOLOGY, KHANDARI,

AGRA

Robotics
Unit-2 Robotic Dynamics
Dr. Greesh Kumar Singh
Assistant Professor
ECE Department
Institute of Engineering and Technology,
Dr. Bhimrao Ambedkar University,
Khandari Campus, Agra
Dynamics
Dynamics…
Forward Dynamics
 In the kinematics, we have already discussed the meaning
of two terms: one is called the forward kinematics and
another is the inverse kinematics. Related to robotics
another terms, that is forward dynamics and inverse
dynamics, which explains the actual reason of joint and link
movement.
 FD, in which given the geometric and inertial parameters,
and the joint torques and forces, joint accelerations are
obtained.
 FD, is used primarily for computer simulation of a robot,
which just shows how a robot will perform when it is built.
Forward dynamics

The Block diagram of forward dynamics


Forward dynamics…
Joint Acceleration

Where
– I = Inertia Matrix
– h = Centrifugal and Coriolis forces
– γ = Gravity Force
– τ = External forces or Torques

 FD problem requires the solution of the joint acceleration


from the equation of motion which is algebraic in nature
for known values of joint angles and rates, i.e., θ and θ dot
respectively.
Inverse Dynamics
• ID where given the robot geometric and inertial parameters,
the joint motions, i.e., its positions, velocities, and
accelerations, corresponding joint torques and forces are
calculated.
• ID, extremely important for the real-time control of robots.
Inverse dynamics

The block diagram of inverse dynamics


Inverse dynamics
The aim of inverse dynamics is to
determine actually the joint torque or the
joint force.
The joint torque consists of a few terms:
inertia, centrifugal, the gravity and the
Coriolis.
Gravity terms depends on the
acceleration due to gravity.
Inertia terms depends on the mass
distribution of the robotic link and that is
expressed in terms of the moment of inertia
matrix .
Centrifugal force -The
apparent force that is felt by an object
moving in a curved path that acts outwardly
away from the center of rotation..
Inverse dynamics
Coriolis - This Coriolis
component will come whenever
there is a sliding joint on a rotary
link. So by rotation and sliding at
same time then it will be
subjected to some amount of
force which is known as the
Coriolis force.
(A force due to earths rotation, act
on a body in motion (airplane) in
a rotating reference frame.)
Note- some times friction is also
consider.
Inverse Dynamics
Inverse Dynamics
Inverse Dynamics

Calculation of Inertia Term.

Depends on mass distribution of the links (moment


of inertia) and it is expressed in terms of moment of
inertia tensor.
Inertia Tensor of i-th link
Various Cases (based on various shape of link)
Case-1 Link with Rectangular Cross-section
Moment of Inertia (positive value)
Moment of Inertia(positive value)
Product of Inertia
(positive/negative/zero)
Product of Inertia
(positive/negative/zero)
Inertia tensor
Case 2 Robotic link of circular cross section
Dynamic Model of Manipulators
Two Approaches for the definition of the Dynamic
Model
Euler-Lagrange Formulation
(Determination of Robotic Joint Torques)
Euler-Lagrange equations are based on energy approach.
Simple and Systematic

https://www.coursera.org/lecture/modernrobotics-course3/lagrangian-formulation-of-
dynamics-chapter-8-through-8-1-2-part-1-of-2-4CdGm
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Euler-Lagrange Formulation…
Example 1
For Torque 1 and Torque2 using LE Equation
Example 1… For torque 1, i=1 and c=1-2; i=1,c=1-2, d=1-2;
For torque 2, i=2 and c=1-2; i=1,c=1-2, d=1-2
Example 1…
Example 1…
Example 1…

For D11, i=1, c=1 and j=1-2; For D12, i=1, c=2 and j=2;
For D21, i=2, c=1 and j=2; For D22, i=2, c=2 and j=2
For h111, i=1, c=1,d=1 and j=1-2
For h112, i=1, c=1,d=2 and j=2
For h121, i=1, c=2,d=1 and j=2
For h122, i=1, c=2,d=2 and j=2
For h211, i=2, c=1,d=1 then J=2:
For h212, i=2, c=1,d=2 then j=2
For h212, i=2, c=1, d=2 then j=2
For h221, i=2, c=2,d=1 then J=2:
For h222, i=2, c=2,d=2 then j=2
For C1, i=1 then j=1-2
For C2, i=2 then j=2
For Torque 1: First two terms are Inertia terms, Third and Forth
terms are centrifugal and coriolis, Fifth and sixth terms are
gravity terms

For Torque 2: First two terms are Inertia terms, Third term is centrifugal and
coriolis, Forth term is gravity terms
For Slender link (l>>r)
Advantages of Euler-Lagrange Formulation
Newton-Euler Formulation
• Newton-Euler equations are known as
vector approach.
NE Formulation…

https://www.coursera.org/lecture/modernrobotics-course3/newton-euler-inverse-
dynamics-chapter-8-3-O8dUq
Forward Iterations
NE Formulation…
Backward Iterations
References
• SK Saha ttps://www.youtube.com/watch?v=-
CTzSjwghYI
• https://www.coursera.org/lecture/modernrob
otics-course3/newton-euler-inverse-
dynamics-chapter-8-3-O8dUq

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