Property of Penn Engineering, Vijay Kumar and Ani Hsieh

Video 3.
1
Vijay Kumar and Ani Hsieh
Robo3x-1.3 1
Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Dynamics of Robot Arms

University of Pennsylvania
Robo3x-1.3 2
Lagrange’s Equation of Motion
Lagrangian
Kinetic Potential
Energy Energy
1-DOF n-DOF
Generalized Coordinates
Generalized Forces
Robo3x-1.3 3
Motion of Systems of Particles
• Center of Mass fi
a2 Pi
mi
rOPi
a1
O
a3
Newton’s 2nd Law
Robo3x-1.3 4
Rigid Body as a System of Particles
• Constraints
Fi
P
Fj
Pj
Pi
• Holonomic Constraints
rOPi rOPj • Constraints on position

O
Robo3x-1.3 5
Holonomic Constraints
• Given a system with k particles and l
holonomic constraints
Ø DOF = k – l
Ø n = k – l generalized coordinates
Ø
Ø are independent
Robo3x-1.3 6
Types of Displacements
• Actual
fi
P
fj
Pj
Pi
• Possible
rOPi rOPj • Virtual (or Admissible)

O
Robo3x-1.3 7
Video 3.2
Robo3x-1.3 8
Classification of Forces
Newtonian Lagrangian
Internal vs External Constraint vs Applied
Applied Forces:
Any forces that are not
constraint forces
Robo3x-1.3 9
D’Alembert’s Principle
The totality of the constraint forces may be

disregarded in the dynamics problem for a system
of particles
Robo3x-1.3 10
D’Alembert’s & Virtual
Displacements
• Ci – Constraint Surface
TCi q
• TCi – Tangent space of Ci
Ci
• Virtual Displacements
satisfy:
1.
2. Eqn of Motion
Robo3x-1.3 11
Intuition for D’Alembert’s (1)
From Newton’s 2nd Law
Robo3x-1.3 12
Intuition for D’Alembert’s (2)
By definition
and
And, b/c motion is constrained
and
Robo3x-1.3 13
D’Alembert’s Principle
Alternative Form:
1. Tangent component of are the only ones to
contribute to the particle’s acceleration
2. Normal components of are in equilibrium

w/
Robo3x-1.3 14
Video 3.3
Robo3x-1.3 15
Principle of Virtual Work
The totality of the constraint forces does no virtual
work.
Virtual Work
By D’Alembert’s Principle
Robo3x-1.3 16
Lagrange’s EOM for Systems of
Particles (1)
System w/ k particles, l constraints, n = k-l DOF
Virtual Work
jth generalized force
Robo3x-1.3 17
Particles (2)
Note: 1)
2)
Robo3x-1.3 18
Particles (3)
Kinetic Energy
Robo3x-1.3 19
Particles (4)
And if - Potential Energy
- Generalized Applied
Forces
Robo3x-1.3 20
Summary
• - vector in 3D
• Virtual work
• - component in the direction of
DO virtual work vs. DO NOT
Robo3x-1.3 21
Video 3.4
Robo3x-1.3 22
Potential Energy
Robo3x-1.3 23
Kinetic Energy
Kinetic energy of a rigid body consists of two
parts
Translational Rotational
Inertia Tensor
Robo3x-1.3 24
Inertia Tensor
Cross
Principal
Products of
Moments
Inertia
• 3x3 matrix
• Symmetric matrix
Robo3x-1.3 25
Let denote the mass density
Principal
Moments of
Inertia
Cross Products
of Inertia
Robo3x-1.3 26
Remarks
Inertia tensor depends on
• reference point
• coordinate frame
VS
Robo3x-1.3 27
Example
Compute the inertia tensor of the block with
the given dimensions.
Assume is constant.
Robo3x-1.3 28
Video 3.5
Robo3x-1.3 29
Potential Energy for n-Link Robot
• 1-Link Robot
• n-Link Robot
Robo3x-1.3 30
Kinetic Energy for n-Link Robot (1)
• 1-Link Robot
• n-Link Robot
Robo3x-1.3 31
Review of the Jacobian
' ∈ ℝ$
!(') ∈ ℝ& !: ℝ$ → ℝ&
,1. ,1.
⋯
,! δ! ,-. ,-$
J= … = ⋮ ⋱ ⋮
,-. ,-$ ,1& ,1&
⋯
,-. ,-$
,15
=
Jij ,-6
Robo3x-1.3 32
Kinetic Energy of n-Link Robot (2)
Robo3x-1.3 33
Euler-Lagrange EOM for n-Link
Robot (1)
Assumptions:
• is quadratic function of
• and independent of
Robo3x-1.3 34
Robot (2)
Robo3x-1.3 35
Robot (3)
Robo3x-1.3 36
Robot (4)
Christoffel Symbols
In matrix form
Robo3x-1.3 37
Skew Symmetry
Robo3x-1.3 38
Passivity
• Power = Force x Velocity

• Energy dissipated over finite time is bounded
• Important for Controls
Robo3x-1.3 39
Bounds on D(q)
• - eigenvalue of
Robo3x-1.3 40
Linearity in the Parameters
System Parameters:
• Mass, moments of inertia, lengths, etc.
Robo3x-1.3 41
2-Link Cartesian Manipulator (1)
q2
q1 y0
x0
Robo3x-1.3 42
q2
q1 y0
x0
Robo3x-1.3 43
q2
q1 x0
y0
Robo3x-1.3 44
q2
q1 y0
x0
Robo3x-1.3 45
Video 3.6
Robo3x-1.3 46
2-Link Planar Manipulator (1)
System parameters:
• Link lengths
• Link center of mass location
y1
x1
• Link masses q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 47
Recall
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 48
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 49
Kinetic Energy = Translational + Rotational
Translational
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 50
Rotational
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 51
Rotational
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 52
Rotational
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 53
Video 3.7
Robo3x-1.3 54
Rotational
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 55
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 56
Christoffel Symbols
Robo3x-1.3 57
Potential Energy
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 58
Putting it all together
1
y1
x1
q2
y2
y0
P Q
x2
q1
O x0
Robo3x-1.3 59
Newton-Euler vs. Euler-Lagrange
Ø N-E: Newton’s Laws of Motion
Ø N-E: Explicit accounting for constraints
Ø N-E: Explicit accounting of the reference
frame
Ø E-L: D’Alembert’s Principle + Principle of

Virtual Work
Ø E-L: Invariant under point transformations
Robo3x-1.3 60
Summary
• Lagrangian
• D’Alembert’s Principle + Principle of Virtual
Work
• Euler-Lagrange EOM
• Properties of the E-L EOM

• Examples: 2 Link Planar Manipulators
Robo3x-1.3 61

Property of Penn Engineering, Vijay Kumar and Ani Hsieh

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Video 3.

Vijay Kumar and Ani Hsieh

Newton’s 2nd Law

rOPi rOPj • Constraints on position

rOPi rOPj • Virtual (or Admissible)

Internal vs External Constraint vs Applied

The totality of the constraint forces may be

And, b/c motion is constrained

2. Normal components of are in equilibrium

jth generalized force

And if - Potential Energy

DO virtual work vs. DO NOT

• Power = Force x Velocity

Ø E-L: D’Alembert’s Principle + Principle of

• Properties of the E-L EOM

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