DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

Robotic Systems & Control

NEWTON EULER {NE}
FORMULATION

ICE 425

Presentation Created By:

MUKUND KUMAR MENON,
ASSISTANT PROFESSOR,
DEPT. OF INSTRUMENTATION & CONTROL ENGG.,
MIT, MANIPAL.
Saturday, October 3, 2015

NEWTON EULER {NE} FORMULATION

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

c,i = acceleration of the centre of mass of link i

L
E
T

e,i = acceleration of the end of link i (which is the origin of frame i + 1)

i = angular velocity of frame i with respect to frame 0
i = angular acceleration of frame i with respect to frame 0
zi

= axis of actuation of frame i with respect to frame 0

gi

= acceleration due to gravity

fi

= force exerted by link (i 1) on link i

= torque exerted by link (i 1) on link i

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NEWTON EULER {NE} FORMULATION

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

L
E
T

Rii+1 = rotation matrix from frame i to frame i + 1

mi

= the mass of link i

Ii

= inertia-tensor of link i about a frame parallel to frame i, whose origin is

at the centre of mass of link i'

r i1,ci = vector from the origin of frame (i 1) to the centre of mass of link i
r i1,i = vector from the origin of frame (i 1) to the origin of frame i
r i,ci = vector from the origin of frame i to the centre of mass of link i

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

Fig: Forces and torques acting on a random link i

By the law of action and reaction, f i is the force exerted by link i 1 on link i, and f i+1 is the force
exerted by link i+1 on link i. According to the definitions above, fi is expressed in frame i while f i+1 is
expressed in frame i + 1. Thus, to express both forces in frame i, it is required to post-multiply the latter
with Rii+1 . The same apply to the torque, again by the law of action and reaction.
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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

1. FORCE BALANCE EQUATION:

mac

link

fi mi gi R f

ma

fi mi ac ,i R f

mi gi

At link i:

i
i 1 i 1

i
i 1 i 1

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NEWTON EULER {NE} FORMULATION

i c ,i

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

2. MOMENT BALANCE EQUATION:

First, the moment exerted by a force f about a point is given by (f r), where
r is the radial vector from the point where the force is applied to the point

where the moment is computed.

Second, the vector migi does not appear in the moment balance since it is
applied directly at the centre of mass.
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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

I I
link

fi ri 1,ci

i
i

Ri 1 i 1 Ri 1 fi 1 ri ,ci i I ii I i i

i i I ii I i i fi ri 1,ci Rii1 i 1 Rii1 fi 1 ri ,ci

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

NOW,
Because of the fact that the angular velocity of frame i equals the angular

velocity of frame i1 PLUS the added rotation from joint i, using rotation
matrices this leads to:

the rotation of joint i expressed

in frame i
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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

It is interesting & also vitally important to note that:

which means

i i
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i is the derivative of
the angular velocity of
frame i, but expressed
in frame i.

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

The time derivative of:

becomes:

and expressed in frame i', it directly becomes:

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10

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

Now it only remains to find an expression for ac,i .

The linear velocity of the centre of mass of link i is expressed as:

constant in frame i

Differentiating both sides, we get:

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11

DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

Multiplying with rotation matrices and using the fact that:

and,
Then, the final expression for the acceleration of the centre of mass of link i,
expressed in frame i, becomes:

THE ACCELERATION OF THE END OF THE LINK,

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

This completes the recursive formulation, and The Newton-Euler

formulation of an n-link manipulator can be stated as follows :
1. Start with the initial conditions: 0 = 0 = ac,0 = ae,0 =
2. Forward recursion:
For increasing i, from 1 to n, solve in the following order:

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0, fn+1 = n+1 = 0

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

3. Backward recursion:
For decreasing i, from n to 1, solve in the following order:

fi mi ac ,i R f

i
i 1 i 1

mi gi

i i I ii I i i fi ri 1,ci
R

i
i 1 i 1

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R f

i
i 1 i 1

i , ci

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

Qn:
Analyze the dynamics of the planar elbow manipulator using NE Recursive
Method.

Hint:
Pg 222-224, Sect.6.7, Mark W. Spong, Seth Hutchinson,
and M. Vidyasagar , Robot Modeling and Control, First
Edition, Wiley.
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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

REFERENCE:
1. Herman Hifdt, Dynamic Modeling and Simulation of Robot
Manipulators: The Newton-Euler Formulation, Thesis, Master of
Science in Engineering Cybernetics, Norwegian University of Science
and Technology, Department of Engineering Cybernetics, June 2011.
2. Mark W. Spong, Seth Hutchinson, and M. Vidyasagar , Robot
Modeling and Control, First Edition, Wiley.
3. John r. Taylor, Classical mechanics, University Science Books, 2005.

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DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING,

MANIPAL INSTITUTE OF TECHNOLOGY, MANIPAL.

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