INTRODUCTION

TO
DYNAMICS
ANALYSIS
OF
ROBOTS
(Part 3)
 Introduction to Dynamics Analysis of Robots (3)

This lecture continues the discussion on the analysis of the

instantaneous motion of a rigid body, i.e. the velocities and
accelerations associated with a rigid body as it moves from one
configuration to another.

After this lecture, the student should be able to:

Derive the acceleration tensor and angular acceleration tensor
Derive the principles of relative motion between bodies in
terms of acceleration analysis
 Summary of previous lectures
Velocity tensor and angular velocity vector
11 12 13
1 32 23
(t ) R RT (t ) 21 22 23 (t ) 2 13 31

31 32 33 3 21 12

vQ (t ) vP (t ) (t )Q(t ) P(t ) vQ (t ) vP (t ) (t ) Q(t ) P(t )

PQ / a Pob / a b RPQ / b
a

Velocity and moving FORs

a
vQ / a vob / a b / a b RPQ / b b RvQ / b
a
 Relative Angular Velocity
a
Consider 3 FORs {a}, {b} and {c}. b R is the rotation of
frame {b} w.r.t. frame {a}. Let

a
b / a = relative angular velocity of frame {b} w.r.t. frame {a}

a
c / b = relative angular velocity of frame {c} relative to frame {b}
w.r.t. frame {a}

a
c / b b R ( c / b )
a

a
c / a = relative angular velocity of frame {c} w.r.t. frame {a}

a
c / a b / a c / b
a a

c / a b / a b R ( c / b )
a
 Example: Relative Angular Velocity
A=3 B=2 C=1
Z0, Z1

Y2 Y3
Example: Y0, Y 1
The 3 DOF
RRR Robot: P
X0, X1 X2 X3
Z2 Z3

What is 3 / 0 after 1 second if all the joints are rotating at
t
i , i 1,2,3
6
 Example: Relative Angular Velocity
Solution: We re-used the following data obtained from the
previous lecture
0 0.866 0.5 0
0
R 0.5 0.866 0
1/ 0 0 1


0.5236 0 0 1

0 0.866 0.5 0
0
2 /1 0.5236
1
R 0 1
2

0 0.5 0.866 0

0 0.866 0.5 0
3 / 2 0 2
R 0.5 0.866 0
3

0.5236 0 0 1
 Example: Relative Angular Velocity

3 / 1 2 / 1 2 R ( 3 / 2 )
1

3 / 0 1/ 0 1 R(3 /1 )
0

3 / 1 2 / 1 2 R ( 3 / 2 )
1

0 0.866 0.5 0 0 0

3 /1 0.5236 0 0 1 0 1.0472

0 0.5 0.866 0 0.5236 0

3 / 0 1/ 0 1 R(3 /1 )
0

0 0.866 0.5 0 0 0.5236

3 / 0 0 0.5 0.866 0 1.0472 0.9068

0.5236 0 0 1 0 0.5236
 Example: Relative Angular Velocity

0.5236

3 / 0 0.9068

0.5236

You should get the same answer from the overall rotational
matrix and its derivative, i.e.

R 10R 21R 32R

0
3

3 R
0 0 1 2
R R
1 2 3 R 0 12
R
1 2 3R R 0 1 2
1R 2 R 3 R

3 / 0 (3,2)

3 / 0 R R 3 / 0
0 0 T
3 / 0 (1,3)
3 3

3 / 0 (2,1)
 Example: Relative Angular Velocity

0.433 0.75 0.5

0
R 0 1 2
R R R 0.25 0.433 0.866
3 1 2 3

0.866 0.5 0
0.9162 0.2267 0.4534
R
0 0 1 2
R R R 0 12
R R R 0 1 2
R R R 0.2267 0.6545 0.2618
3 1 2 3 1 2 3 1 2 3

0.5236 0.9069 0
0.9162 0.2267 0.4534 0.433 0.75
T
0.5
3 / 0 0.2267 0.6545 0.2618 0.25 0.433 0.866

0.5236 0.9069 0 0.866 0.5 0
0 0.5236 0.9068 0.5236

3/ 0 0.5235 0 0.5236 3 / 0 0.9068


0.9068 0.5236 0 0.5236
 Acceleration tensor
Consider 2 points P and Q of a rigid body:

Q(t ) P (t ) (t )Q(t ) P (t )


Q(t ) P (t ) (t )Q(t ) P (t ) (t ) Q(t ) P (t )


Q(t ) P (t ) (t )Q(t ) P (t ) (t ){ (t )Q(t ) P (t )}


Q(t ) P (t ) (t ) (t ) Q(t ) P (t )
2

Rearranging:

aQ (t ) aP (t ) A(t )Q(t ) P(t )

where
A(t ) (t ) 2 (t )
A(t) is called the acceleration tensor
 Example: Acceleration tensor

Given 0 0 0
(t ) R RT (t ) 0 0

0 0

Find the acceleration tensor if =t2

Solution:
t 2 2t 2

0 0 0 0 0 0
(t ) 0 0 0 0 2

0 0 0 2 0
 Example: Acceleration tensor
0 0 0 0 0 0 0 0 0
2 (t ) 0 0 0 0 0 2 0

0 0 0 0 0
2
0
0 0 0
2 (t ) 0 4 2t 2 0

0 0 4 t
2 2

0 0 0 0 0 0
A(t ) 2 0 0 2 0 4 2t 2 0

0 2 0 0 4 t
2 2
0
0 0 0
A(t ) 0 4 2t 2 2

0 2 4 t
2 2
 Angular Acceleration vector




Q(t ) P(t ) (t )Q(t ) P(t ) (t ) Q(t ) P(t )


Q(t ) P(t ) (t ) Q(t ) P(t ) (t ) v (t ) v (t )

Q P

where 1 32 23

(t ) 2 13 31
Angular
velocity vector
3 21 12
Similarly:
1 32 23 Angular
(t ) 2 13 31

acceleration
3 21 12 vector
 Example: Angular Acceleration vector

Given 0 0 0
(t ) R RT (t ) 0 0

0 0

Find the angular acceleration vector if =t2

Solution:
t 2 2t 2

0 0 0 0 0 0 32 2
(t ) 13 0

(t ) 0 0 0 0 2

0 0 0 2 0 21 0
 Acceleration and moving FORs



vQ / a vob / a ( b RPQ / b ) b R PQ / b
a a

vQ / a vob / a b
a

Q/b
a
b

( RP ) ( RP ) ( RP ) R P
Q/b b
a

Q/b b

a

Q/b


R PQ / b
a
b

RR R R
T T 1

R R R
T 1
T 1
R
1 1
R
R R T 1
R
a
a



vQ / a vob / a (b RPQ / b ) (b RPQ / b ) (b RPQ / b ) b R PQ / b b R PQ / b
a a a

a
a
a
a

a
vQ / a vob / a (b RPQ / b ) ( bRPQ / b ) (b RPQ / b ) bR PQ / b b R PQ / b
a
a
a
a

vQ / a vob / a (b RPQ / b ) b RPQ / b 2 (b RPQ / b ) b R PQ / b


aQ / a aob / a b / a (b RPQ / b ) b / a b / a b RPQ / b
a a

a


2b / a (b RPQ / b ) b R PQ / b
a
 Acceleration and moving FORs

aQ / a aob / a b / a (b RPQ / b ) b / a b / a b RPQ / b
a a

a


2b / a (b RPQ / b ) b R PQ / b
a

Prel b RPQ / b
Let a

a
Vrel (b RPQ / b )
a

arel b R PQ / b

aQ / a aob / a b / a ( Prel ) b / a b / a Prel 2b / a (Vrel ) arel

 Example: Acceleration and moving FORs
A=3 B=2 C=1
Z0, Z1

Y2 Y3
Example: Y0, Y 1
The 3 DOF
RRR Robot: P
X0, X1 X2 X3
Z2 Z3

What is the acceleration of point P after 1 second if all the

joints are rotating at
t
i , i 1,2,3
6
 Example: Acceleration and moving FORs

We know from the previous lecture that at t=1 1
6

cos(1 ) sin(1 ) 0 0
sin( ) cos( ) 0 0.866 0.5 0
0 0.5 0.866 0
0
T 1 1
0
R
1
0 0 1 0 1

0 0 1
1
0
0 0
sin(1 )1 cos(1 )1 0 0
cos( ) 0.51 0.8661 0
sin( )1 0 0 0.866
1T
0 0

1 1 1
R 0 .5 0
0 0 0 0 1 1 1

0 0 0
0 0 0 0
 Example: Acceleration and moving FORs

sin(1 )1 cos(1 )1 0 0
cos( ) sin(1 )1 0 0
0
T 1 1

0
1
0 0 0

0 0 0 0

cos(1 )12 sin(1 )1 sin(1 )12 cos(1 )1 0 0

sin( ) 2
cos( )1 cos(1 )12 sin(1 )1 0 0
1T
0 1 1 1

0 0 0 0

0 0 0 0
0.86612 0.512 0

0
1 R 0.5 1
2
0.86612 0
0 0 0
 Example: Acceleration and moving FORs

Similarly at t=1 2
6
cos( 2 ) sin( 2 ) 0 A
0 0.866 0.5 0
0 1 0 0
2T
1 1
R 0 1
sin( 2 ) cos( 2 ) 0 0
2

0 0.5 0.866 0
0 0 1

sin( 2 )2 cos( 2 )2 0 0 0.52 0.8662 0

0 1R 0
0 0 0 0 0
2T
1
2
cos( 2 )2 sin( 2 )2 0 0 0.8662 0.52 0

0 0 0 0
 Example: Acceleration and moving FORs
sin( 2 )2 cos( 2 )2 0 0
0 0 0 0
2T
1
cos( 2 )2 sin( 2 )2 0 0

0 0 0 0
cos( 2 )22 sin( 2 )2 sin(2 )22 cos( 2 )2 0 0

0 0 0 0
2T
1

sin( 2 ) 2 cos( 2 )2 cos( 2 )22 sin( 2 )2 0 0

0 0 0 0
0.86622 0.522 0

1
2 R 0 0 0
0.522 0.86622 0
 Example: Acceleration and moving FORs

At t=1, 3
6
cos( 3 ) sin( 3 ) 0 B
sin( ) cos( ) 0 0 0.866 0.5 0
2
T 3 3
0.5 0.866 0
3
0 1 0
2
R
0 3

0 0 1 0 0 1
0

sin( 3 )3 cos( 3 )3 0 0 0.53 0.8663 0

cos( ) 0 0.866
2
T 3 3 sin( 3 )3 0 2
3 R 3 0.53 0
0
3
0 0 0 0 0 0

0 0 0 0
 Example: Acceleration and moving FORs

sin( 3 )3 cos( 3 )3 0 0
cos( ) sin( ) 0 0
2
T 3 3 3 3
0 0
3
0 0

0 0 0 0
cos( 3 )32 sin( 3 )3 sin( 3 )32 cos( 3 )3 0 0

sin( ) 2
cos( ) cos( ) 2
sin( )3 0 0
3T
2 3 3 3 3 3 3 3

0 0 0 0

0 0 0 0
0.86632 0.532 0

2
3 R 0 . 5 3
2
0 .866 3
2
0
0 0 0
 Example: Acceleration and moving FORs

With 1 2 3 ;


PP / 3 1 0 0 T

6

a
We need to find P / 0

(t ) R RT RRT R R T
Substitute the matrices given into the equation, we get:

1/ 0 1 R1R 1R1R 0 1/ 0 0
0 0 T 0 0 T

Similarly

2 /1 R R R R
1
2
1
2
T 1
2
1
2
T
0 2 /1 0

3 / 2 32R32RT 32R 32R T 0 3/ 2 0
 Example: Acceleration and moving FORs

1 / 0 2 / 1 3 / 2 0

For the data given, the following were determined in the

previous lecture:

0 0 0

1/ 0 0 2 /1 0.5236 3 / 2 0

0.5236 0 0.5236

0.2618 1.4304 2.6084

vP / 2
0.4534 vP /1 0

vP / 0 1.6571

0 1.4304 1.4304
 Example: Acceleration and moving FORs

aP / 2 ao3 / 2 3 / 2 (3 RPP / 3 ) 3 / 2 3 / 2 3 RPP / 3
2 2

2
23 / 2 (3 RvP / 3 ) 3 RaP / 3
2

ao 3 / 2 0 There is no translation acceleration between

aP / 3 0 frames {3} and {2} and no translation velocity
and acceleration of point P in frame {3}
vP / 3 0

aP / 2 3 / 2 3 / 2 3 RPP / 3
2

0 0 0.866 0.5 0 1 0.2374

0.5 0.866 0 0 0.1371

aP / 2 0 0


0.5236 0.5236 0 0
1 0 0
 Example: Acceleration and moving FORs

aP /1 ao 2 /1 2 /1 ( 2 RPP / 2 ) 2 /1 2 /1 2 RPP / 2
1 1

1
2 2 /1 ( 2 RvP / 2 ) 2 RaP / 2
1

There is no translation acceleration between

ao 2 /1 0
frames {2} and {1}

2 /1 0

aP / 2 0.2374 0.1371 0
T

PP / 2 Po3 / 2 3 RPP / 3 2.866 0.5 0
2 T

vP / 2 3 / 2 3 RPP / 3 0.2618 0.4534 0
2 T
 Example: Acceleration and moving FORs

Substituting the values into the equation:

aP /1 2 /1 2 /1 2 RPP / 2 2 2 /1 ( 2 RvP / 2 ) 2 RaP / 2
1 1 1

0 0 0.866 0.5 0 2.866

aP /1 0.5236 0.5236 0

0 1 0.5


0 0 0.5 0.866 0 0
0 0.866 0.5 0 0.2618
2 0.5236 0 0 1 0.4534

0 0.5 0.866 0 0
0.866 0.5 0 0.2374 1.023

0 0
1 0.1371 aP /1 0


0.5 0.866 0 0 1.2237
 Example: Acceleration and moving FORs

aP / 0 ao1/ 0 1/ 0 (1 RPP /1 ) 1/ 0 1/ 0 1 RPP /1
0 0

0
21/ 0 (1 RvP /1 )1 RaP /1
0

There is no translation acceleration between

ao1/ 0 0
frames {1} and {0}

b / a 0

aP /1 1.023 0 1.2237
T

PP /1 Po 2 /1 2 RPP / 2 5.232 0 1.866
1 T

vP /1 2 /1 2 RPP / 2 2 RvP / 2 1.4304 0 1.4304
1 1 T
 Example: Acceleration and moving FORs

Substituting the values into the equation:

aP / 0 1/ 0 1/ 0 1 RPP /1 21/ 0 (1 RvP /1 )1RaP /1
0 0 0

0 0 0.866 0.5 0 5.232

0 0.5

aP / 0 0 0.866 0 0


0.5236 0.5236 0 0 1 1.866
0 0.866 0.5 0 1.4304

2

0 0.5 0.866 0 0

0.5236 0 0 1 1.4304
0.866 0.5 0 1.023 1.38
0.5 0.866 0 0 aP / 0 2.53


0 0 1 1.2237 1.22
 Example: Acceleration and moving FORs

We should get the same answer if we use transformation matrix

method.

Try it at home and well discuss this in the next lecture!

 Summary

This lecture continues the discussion on the analysis of the

instantaneous motion of a rigid body, i.e. the velocities and
accelerations associated with a rigid body as it moves from one
configuration to another.

The following were covered:

The acceleration tensor and angular acceleration tensor
The principles of relative motion between bodies in terms of
acceleration analysis