L12 - Dynamics Analysis and Forces 2 V1

Universiti Kuala Lumpur Malaysia France Institute
Dynamics Analysis and Forces:

Reference Notes
Originally prepared by: Prof Engr Dr Ishkandar Baharin

Head of Campus & Dean
UniKL MFI
We will examine two
approaches to this problem
• Euler – Lagrange Approach:

– Develops a “Lagrangian Function” which relates
Kinetic and Potential Energy of the manipulator, as
it is moving, thus dealing with the manipulator “As a
Whole” in building force/torque equations
• Newton – Euler Approach:
– This approach works to separate the effects of each
link on machine torques by writing down its motion
in a separable linear and angular sense. However,
due to the highly coupled motions in a robot, it
requires a forward recursion through the entire
manipulator for building velocity and acceleration
models of a link followed by a backward recursion
for force and torque on each link ‘in turn’
Euler – Lagrange approach
• Employs a Denavit-Hartenberg structural

analysis to define “Generalized Coordinates”
for the structural models of the machine.
• It provides good insight into controller design
related to STATE SPACE
• It provides a closed form interpretation of the
various components in the dynamic model:
– Due to Inertia
– Due to Gravitational Effects
– Due to Friction (joint/link/driver)
– Due to Coriolis Forces relating motion of one link to
coupling effects of other links’ motions
– Due to Centrifugal Forces that cause the link to have a
tendency to ‘fly away’ due to coupling to neighboring links
and its own motion
Newton-Euler Approach
• A ‘computationally more efficient’

approach to force/torque determination
• It starts at the “Base Space” and moves forward
toward the “End Space” – computing trajectory,
velocity and acceleration demands then
• Using this ‘forward velocity’ information the
control computes forces and moments starting at
the “End Space” and moving back to the “Base
Space”
Defining the Manipulator
Lagrangian:
L ( q , q& ) = T ( q , q& ) − U ( q )
h ere
T ( q , q& ) = K in etic en erg y o f th e m a n ip u la to r
U ( q ) = P o ten tia l en erg y o f th e m a n ip u la to r
Generalized Equation of Motion
of the Manipulator:
d⎛ ∂ ⎞ ∂
Fi = ⎜
dt ⎝ ∂q&i
( L ( q, q& ) ) ⎟ − ( L ( q, q& ) )1≤i≤n
⎠ ∂qi
i is a link of manipulator
Starting Generalized Equation
Solution
• We’ll initially focus on the Kinetic energy

term (the hard one!)
• Remembering from physics:
• Kinetic Energy = ½ mV2
• Lets define the velocities for the Center of
Mass of a Link K:
vk as Linear Velocity
ωk as Angular Velocity
Rewriting the Kinetic Energy Term:
n
T ( q, q& ) = ∑⎢
⎡
(( ) (
vk ) mK vk + (ωk ) DKωk
T T
) ⎤
⎥
K =1
⎢ 2 ⎥
⎢⎣ ⎥⎦
• Notice the separation in velocities!

• mK is Link Mass
• DK is a 3x3 Inertial Tensor of Link K about its center of
mass expressed W.R.T. the base frame
– This term characterizes mass distribution of a rigid object
link
Focusing on DK: Looking at a(ny)
For this Link: DC is the Inertial
Tensor About it Center of Mass
• In General:
⎡ ⎤
⎢∫ ( + ) ρ dV − ∫ xy ρ dV − ∫ xz ρ dV ⎥
2 2
y z
⎢V V V ⎥
DC = mK ⎢ − ∫ xy ρ dV ∫( + ) ρ dV − ∫ yz ρ dV ⎥
2 2
x z
⎢ ⎥
⎢ V V V
⎥
⎢ − ∫ xz ρ dV
⎢⎣
− ∫ yz ρ dV ∫V ( x 2
+ y 2
) ρ dV ⎥⎥
V V ⎦
Defining the terms:
• The Diagonal terms are the “General Moments

of Inertia” of the link
• The three distinct off diagonal terms are the
“Products of Inertia”
• If the axes used to define the pose of the center
of mass are aligned with the x and z axes of the
link defining frame (i) then the products of
inertia are zero and the diagonal terms form the
“Principal Moments of Inertia”
Continuing after this simplification:
⎡ ⎤
⎢∫ ( + ) ρ dV
2 2
y z 0 0 ⎥
⎢V ⎥
DC = mK ⎢ ∫(x + z 2 ) ρ dV
0 2
0 ⎥
⎢ ⎥
⎢ V
⎥
⎢ ∫V ( + ) ρ dV ⎥⎥
2 2
0 0 x y
⎢⎣ ⎦
If the Link is a Rectangular Rod
(of uniform mass):
⎡ b2 + c2 ⎤
⎢ 12 0 0 ⎥
⎢ ⎥
⎢ a +c
2 2
⎥
DC = mK ⎢ 0 0 ⎥
12
⎢ ⎥
⎢ 0 a +b ⎥
2 2
⎢ 0
⎣ 12 ⎥⎦
This is a reasonable approximation for many arm
links!
If the Link is a Thin Cylindrical
Shell of Radius r and length L:
⎡r 2 0 0 ⎤
⎢ ⎥
⎢
DC = mK 0 r 2 + L2 0 ⎥
⎢ 2 12 ⎥
⎢ 2 2 ⎥
⎢⎣ 0 0 r + L
2 12 ⎥⎦
We must now Transform each
link’s Dc
• Dc (for each link) must be defined in the Base Space to

be added to the Lagrangian Solution for kinetic energy:
( (ω ) D ω )
k
T
K k
• DK = [R0KDC(R0K)T]
• Here R0K is the rotational sub-matrix defining the Link
frame K (at its end) in the base space – (note: seems
like the thinking of using DH ideas as we built a
jacobian previously !!)
Defining the Kinetic Energy due to
Rotation (contains DK)
K .E . =
( (ω )
k
T
DK ωk )
2
(ω )
K T
∗ ⎡ R DC ( R
⎢⎣
K
0
K T
0 ) ⎤ω K
⎥⎦
K .E . =
2
Completing our models of Kinetic
Energy:
• Remembering:
(
n
T ( q, q& ) = ∑ ⎢
⎡ ( ) (
vk ) mK vk + (ωk ) DKωk
T T
) ⎤
⎥
K =1
⎢ 2 ⎥
⎢⎣ ⎥⎦
Velocity terms are from Jacobians:
• We will define the velocity terms as parts of a “slightly” modified

Jacobian Matrix:
⎡∂c1 ∂ck ⎤
L 0 ⎡ A (q)⎤
K
JK (q) = ⎢ ∂q1 ∂qK ⎥ ⎢ ⎥
⎢ ⎥ ⎣B (q)⎦
K
⎣ ρ1Z L ρK Z
0 K −1
0⎦
• AK is linear velocity effect
• BK is angular velocity effect
Velocity Contributions
• ρI is 1 for revolute, 0 for prismatic
of all links beyond K are
joint types
ignored – K+1, K+2 etc
Focusing on ck :
• This is a generalized coordinate of the

center of mass of a link
• It is given by:
ck = H1 ∗ T0K (q ) ∗ ∆c K
here :
A Matrix that
∆c K is a vector from frame k
essentially
strips off the (at the end of link K) to the
bottom row
of the Center of Mass of Link K
solution T
⎛ ak ⎞
and is: ⎜ − ,0,0,1⎟ Note: Minus Sign
⎝ 2 ⎠
Re-Writing K. Energy for the ARM
(
n
T ( q, q& ) = ∑ ⎢
⎡
⎢ ( & )K
&(
A q ) mK A q + ( B q ) DK B q&
K T K
& K
) ⎤
⎥
2 ⎥
K =1
⎢⎣ ⎥⎦
Factoring out the Joint Velocity
Terms
n
T ( q, q& ) = ∑⎢
⎡
⎢
&
qT
(( ) K
AK T
m AK
&
q + )
&
qT
BK T
(
( ) K ⎥
D BK
&
q ⎤
)
2 ⎥
K =1
⎢⎣ ⎥⎦
Simplifies to:
∑(( (A ) )(
mK A + ( B ) )) ∗ q&
n
K T K K T
DK BK
T ( q, q& ) = q&T ∗ K=1
2
Building an Equation for Potential
Energy:
n Generalized
U (q ) = −∑ mK g T c k (q ) coordinate of centers
K =1 of mass (from earlier)
g is acceleration due to gravity (a vector)
Introducing a new term:
n This is a weighted
c (q ) ≡ ∑ mK c k (q ) sum of the centers of
K =1
mass of the links of
the manipulator
∴U (q ) = − g T c (q )
Finally, The Manipulator
Lagrangian Equation :
L(q, q&) = T (q, q&) −U (q)

Which means:
∑( ( (A ) )( + (B ) )) ∗ q& + g c (q)
n
K T K K T
mK A DK BK
L ( q, q& ) = ( q&T ) ∗ K =1 ( ) T
2
Introducing a ‘Simplifying’ Term
D(q):
• This is the Manipulator Inertial Tensor
n T
D ( q ) = ∑{⎡⎣ A ( q ) ⎤⎦ mK A ( q ) + ⎡⎣ B ( )⎦ K ( ) ( q )}
T
K K K
q ⎤ D q B K
K =1
D(q) is an nxn matrix sized by the robot!

Lets define “Generalized Forces”
• We say that a generalized force is an

residual force acting on a arm after
kinetic and potential energy are
removed!?!*!
• The generalized forces are connected to
“Virtual Work” through “Virtual
Displacements”
• Displacements that are done without the physical
constraints of time
Generalized Forces on a
Manipulator
• We will consider in detail two (of

the readily identified three):
• Actuator Force (torque) → δW1 = Τ δ q T
• Frictional Effects →
δW2 = −b( q& ) δ q
T
• Tool Forces →
F =0
Tool
in general
Considering Friction (in greater
detail):
• Friction is a non-linear and complex force

opposing manipulator motion
• It consists of 3 contributions:
• Viscous friction
• Dynamic friction
• Static friction
These can be (jointly) modeled
• Defining a Generalized Coefficient of Friction

for a link:
⎡ d − q&K
⎤
bk (q) = b ( qK ) + SGN ( qK ) ⎢bK + ( bK − bK ) e
& v
K
& & s d ε
⎥
⎣ ⎦
Coefficient Coefficient Coefficient

of Viscous of Dynamic of Static
Friction Friction Friction
Combining these components of
Virtual Work:
δW = δW1 + δW2 = ⎡⎣Τ− b( q& ) ⎤⎦ δ q

T
leads to the manipulator Generalized Force:
F = Τ− b( q& )
Building a General L-E Dynamic
Model
• But Remembering:
d⎛ ∂ ⎞ ∂
Fi = ⎜ ( L( q, q& ) ) ⎟ − ( L( q, q& ) )1≤i≤n
dt ⎝ ∂q&i ⎠ ∂qi
i is a link of manipulator
Starting with
this term
Partial of Lagrangian w.r.t. joint
velocity
It can be ‘shown’ that

∂ ( L ( q, q& ) ) ∂ (T ( q, q& ) ) this term equals
= (remembering D(q)
∂q&i ∂q& earlier):
n
= ∑ Dij ( q ) q& j
j =1
Completing the 1st term of the L-E
Dynamic Model:
d ( ( ))
⎛ ∂ L q, &
q ⎞ d ⎛ n ⎞
⎜⎜ ⎟⎟ = ⎜ ∑Dij ( q) q& j ⎟
dt ⎝ ∂q&i ⎠ dt ⎝ j=1 ⎠
This is found to equal to the next slide :

Completing the 1st term of the L-E
Dynamic Model:
n n n ⎡ ∂Dij ( q ) ⎤
= ∑ Dij ( q )q&&j + ∑∑ ⎢ ⎥q&k q& j
j =1 k =1 j =1 ⎣ ∂qk ⎦
Looking at the 2nd Term:
∂ ∂ ∂
L( q, q& ) = T ( q, q& ) − U ( q)
∂qi ∂qi ∂qi
This term can be shown to be:
n n
⎡ ∂Dkj (q ) ⎤
∑∑ ⎢ ∂q ⎥ q&k q& j
k =1 j =1 ⎣ ⎦
3 n
= i
+ ∑∑ g k m j Akij (q )
2 k =1 j =i
Notice: i (!) not 1
Before Summarizing the L-E
Dynamical Model we introduce:
• A Velocity Coupling Matrix (nxn)
∂ ∂
C (q) =
i
Dij ( q ) − 1 Dkj ( q ) for 1 ≤ i, j , k ≤ n
∂qk 2 ∂q
kj
i
• A ‘Gravity’ Loading Vector (nx1)
3 n
hi ( q ) = −∑∑ g k m j A ( q ) j
ki
k =1 j =i
The L-E (Torque) Dynamical
Model is:
n n n
Τi = ∑ Dij ( q )q&&j + ∑∑ C ( q )q&k q& j + hi ( q ) + bi ( q&i )
i
kj
j =1 k =1 j =1
Inertial Gravitational
Coriolis & Forces Frictional
Forces Centrifugal Forces
Forces

L12 - Dynamics Analysis and Forces 2 V1

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Universiti Kuala Lumpur Malaysia France Institute

Dynamics Analysis and Forces:

Originally prepared by: Prof Engr Dr Ishkandar Baharin

• Euler – Lagrange Approach:

• Employs a Denavit-Hartenberg structural

• A ‘computationally more efficient’

• We’ll initially focus on the Kinetic energy

• Notice the separation in velocities!

• The Diagonal terms are the “General Moments

Continuing after this simplification:

• Dc (for each link) must be defined in the Base Space to

• We will define the velocity terms as parts of a “slightly” modified

• This is a generalized coordinate of the

L(q, q&) = T (q, q&) −U (q)

• This is the Manipulator Inertial Tensor

D(q) is an nxn matrix sized by the robot!

• We say that a generalized force is an

• We will consider in detail two (of

• Actuator Force (torque) → δW1 = Τ δ q T

• Friction is a non-linear and complex force

• Defining a Generalized Coefficient of Friction

Coefficient Coefficient Coefficient

δW = δW1 + δW2 = ⎡⎣Τ− b( q& ) ⎤⎦ δ q

leads to the manipulator Generalized Force:

It can be ‘shown’ that

This is found to equal to the next slide :

This term can be shown to be:

• A Velocity Coupling Matrix (nxn)

• A ‘Gravity’ Loading Vector (nx1)

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