Manipulator dynamics
Dr. Sara Ali
INTRODUCTION
• Worked with static positions, static forces, and velocities; but we have never considered the
forces required to cause motion.
• Equations of motion for a manipulator.
• the way in which motion of the manipulator arises from torques applied by the actuators
• external forces applied to the manipulator.
• Serial-chain nature of manipulators are natural candidates for our study.
• Two problems of dynamics:
• Trajectory point given – calculate required joint torques vector (problem of controlling manipulator)
• Calculate how the mechanism will move under application of a set of joint torques. (given joint torque –
motion of manipulator)
Acceleration of a rigid body
Linear acceleration
• Velocity of a vector as seen from frame {A} when the origins are
coincident
• LHS tells how is changing with time, since origins are coincident
we can write eq(2)
• Differentiating the first eq 1 becomes eq 3:
Linear acceleration
• Eq 3:
• Substituting eq 2in eq 3, RHS becomes:
Simplifying:
Linear acceleration
• Reading asg: When origins are not coincident addition of one extra
term?
Angular acceleration
Applying eq 2, in above eq:
Mass Distribution
• Systems with a single degree of freedom – we talk about mass of a rigid
body
• Rotational motion about a single axis – moment of inertia
• Rigid body that is free to move in three dimension- infinite possibilities
of rotation axes
• Rotation about arbitrary axis – complete way required for characterizing
mass distribution
• Define set of quantities that give information about the distribution of
mass of a rigid body relative to a reference frame
• Inertia tensor: generalization of the scalar moment of inertia of an
object
Mass Distribution
• The inertia tensor (objects rotational inertia) of an object describes the object's mass distribution
(defined relative to the fame attached with rigid body) . Here, the vector Ap locates the differential
volume element, dv.
Inertia Tensor
• The inertia tensor relative to frame {A} is expressed in the matrix form as the 3 x 3 matrix
Rigid body is composed of differential volume elements, dv, containing
material of density p. Each volume element is located with a vector,
Inertia Tensor
• Mass moments of inertia – Ixx, Iyy,Izz, integrating the mass elements,
pdv, times the squares of the perpendicular distances from the
corresponding axis.
• The elements with mixed indices are called the mass products of
inertia.
• The inertia tensor is a function of the location and orientation of the
reference frame
Example
Find the inertia tensor for the rectangular body of uniform density p with respect to the coordinate system
shown in Fig. 6.2.
Change of inertial tensor with reference
frame
• Inertia tensor changes under translations of the reference coordinate
system (Parallel axis theorem).
• Where {C} is located at the center of mass of the body, and {A} is an
arbitrarily translated frame, the theorem can be stated [1] as
Class Task
• Difference between:
• Moment of Inertia, Principal Moments of Inertia, Inertia Tensor
http://ffden2.phys.uaf.edu/webproj/212_spring_2014/Harrison_Hartle/Harrison_Hartle/moment%20of
%20inertia,%20intertia%20tensor%201.html
Newton-Euler Method
• Consider link of a manipulator as a rigid body
• With known location of center of mass and the inertia tensor of the
link – we can completely characterize mass distribution
• For motion- accelerate and decelerate the links
• Forces required for motion – function of acceleration and mass
distribution of link.
• Newton along with Euler equation - how forces, inertias, and
accelerations relate.
Newton-Euler Method
Newton-Euler Method
• The force, F, acting at the center of mass and causing this acceleration
is given by Newton's equation
• The moment N, which must be acting on the body to cause this
motion, is given by Euler's equation
• where cI is the inertia tensor of the body written in a frame, {C},
• whose origin is located at the center of mass.
ITERATIVE NEWTON-EULER DYNAMIC
FORMULATION
• Known: position, velocity, and acceleration of the joints,
and knowledge of the kinematics and the mass-distribution
information of the robot
• Find: joint torques required to cause this motion
Outward iterations to compute velocities and
accelerations
• For inertial forces acting on the links – compute:
• rotational velocity and
• linear and rotational acceleration of the center of mass of each link of the
manipulator at any given instant
• For this iterations will be done starting with link 1 and moving successively,
link by link, outward to link n.
• Propagation" of rotational velocity from link to link (Chp: 5)
• Angular acceleration:
• For prismatic joint:
Outward iterations to compute velocities and
accelerations
• Linear acceleration of the link is already computed.
• Therefore, inertial force and torque acting on the center of mass of
the link will be:
Inward iterations to compute forces
and torques
• Computed the forces and torques acting on each link - calculate the
joint torques that will result in these net forces and torques being
applied to each link.
The force balance, including inertial forces, for a single manipulator link.
Inward iterations to compute forces
and torques
• Force-balance and moment-balance equation based on a free-body
diagram of a typical link.
• Each link has forces and torques exerted on it by its neighbors and in
addition experiences an inertial force and torque.
• Force balance relationship:
• Torque balance equation:
Inward iterations to compute forces
and torques
Finally rearranging force and torque on each joint equations so that they appear as
iterative relationships from higher numbered neighbor to lower numbered neighbor:
Lagrangian Formulation
• Newton—Euler approach is based on the elementary dynamic formulas and on
an analysis of forces and moments of constraint acting between the links. (Force-
balance)
• Lagrangian formulation is an "energy-based" approach to dynamics.
Lagrangian Formulation
Lagrangian Formulation
Book Format Eq
The kinetic energy of the ith link,
The total kinetic energy of the manipulator is the sum of the kinetic energy in
the individual links
kinetic energy of q manipulator can be described by a scalar
formula as a function of joint position and velocity,
