ME4245/ME4245E – Part II

Tutorial 1

1. A rigid body consists of a rectangular block 15 x 5 x 5 cm, a cylinder of diameter 5cm and length 8
cm, and a point mass (1kg) at coordinates (10cm, 0, 0), as shown. Determine the mass moments of
inertia of the rigid body with respect to the coordinate axes which are also the principal axes of inertia
of the rectangular block. The density of the block and cylinder are assumed to be uniformed
throughout with value of 7849 / .

y 
8cm 

2.5cm 
7.5cm  5cm 
x 
(10cm,0,0) 
z 
5cm 
5cm 

Solution:

Rectangular block:

V = 15cm x 5cm x 5cm = 3.75 10

7849 3.75 10 2.943

Cylinder:

3.141 0.025 0.08 1.571 10

7849 1.571 10 1.233

Mass moments of inertia:

Rectangular block only:

1 
 
 1
0.15 0.05 6.131 10
12
1
0.05 0.05 1.226 10
12

Cylinder only:
y 
1
2
r  1
3
12
z  x 
 
h 

With reference to the coordinate axes:

0.05 (Parallel-axis theorem)

1
1.233 0.025 1.233 0.05 3.46 10
2

3 0.065 (Parallel-axis theorem)

1
1.233 3 0.025 0.08 1.233 0.065 6.06 10
12

3 0.065 0.05 (Parallel-axis theorem)

1
1.233 3 0.025 0.08 1.233 0.065 0.05 9.14 10
12

Point mass only:

With reference to the coordinate axes:

1 0.1 1 10

1 0.1 1 10

2 
 
Entire body (adding all the values obtained for each axis),

6.131 10 3.46 10 0 9.59 10

1.226 10 6.06 10 1 10 1.729 10

6.131 10 9.14 10 1 10 2.53 10

2. A 15 kg slender rod AB shown below is 1.5 m long and is pivoted about a point O which is 0.3 m
from end B. Determine its kinetic energy in terms of .

A 

 
O  B 

Solution:
The mass centroid of a slender rod is at the midpoint. That is, 0.75 m from either end A or B.

Centroidal Moment of Inertia of slender rod AB, 15 1.5 2.81

Let v be the linear velocity of the rod’s mass centroid.

Kinetic energy, 15 0.45 2.81 2.92

3. Given the linear spring constant k, cart mass m1, and pendulum end point mass m2, derive the
equations of motion using Lagrangian and Newton-Euler formulations separately for the 2-degree-of-
freedom (2 dof) cart-pendulum system shown below (F is an external force acting on the cart and is
the torque acting on the pendulum from a motor mounted on the cart). Assumptions: The pendulum
consists of rigid massless rod and a point mass m2. The position of m1 is equal to zero when the
spring is not stretched or compressed.

3 
 
 y (j) 
q  
x (i) 

p 

Solution:

There are two degrees of freedom (coordinates x and ) and there will be two equations of motion:
one for the linear motion of the cart and one for the rotation of the pendulum.

First, express velocity of point p as a function of , , , (Kinematics):

Position vector of point p (m2) rp with respect to the inertia frame which is placed at q when x
= 0 (x axis is horizontal and y-axis is vertical as shown in the figure):

Velocity expression of point p:

cos sin

Lagrangian formulation:
Kinetic energy of the system comprised of the kinetic energy of the cart and of the pendulum:

T  Tcart  Tpend
1
Tcart  m1 x 2
2
1 1 1
   
2 2 2
Tpend  m2 v p  m2 x  l cos   m2 l sin 
2 2 2
1 1

T   m1  m2  x 2  m2 l 2 2  2l x cos 
2 2

Potential energy is the summation of the potential energy in the spring and in the pendulum:

1 2
U  kx  m2 gl cos 
2
(Note that the zero-potential-energy line (datum) is chosen at q.)

4 
 
The Lagrangian is:

L  T U
1 1 1
2 2
 2

  m1  m2  x 2  m2 l 2 2  2l x cos   kx 2  m2 gl cos 

The derivatives and the equations of motion:

:

L
  m1  m2  x  m2 l cos 
x
d  L 
     m1  m2  
x  m2 l cos   m2 l 2 sin 
dt  x 
L
 kx
x
F   m1  m2  
x  m2 l cos   m2 l 2 sin   kx

L
 m2 l 2  m2 lx cos 

d  L  2  
    m2 l   m2 lx cos   m2 lx sin 
dt   
L
 m2 l x sin   m2 gl sin 

  m2 l 2  m2 lx cos   m2 gl sin 

Newton-Euler’s formulation (using D’Alembert’s principle):

Free body diagram of pendulum (treating inertial term as a negative force):

   
 

 
 

5 
 
Applying D’Alembert’s principle for the pendulum and considering the summation of moment at
point q (+ve anticlockwise):

Since ,

Considering the summation of all linear forces for the pendulum:

Free body diagram of cart (treating inertial term as a negative force) :

   
   
 
   

Now, applying D’Alembert’s principle for the cart and consideration the summation of horizontal
linear forces:
0
0

F   m1  m2  
x  m2 l cos   m2 l2 sin   kx

The resulting equations of motion are the same as those obtained by Lagrangian formuation.

6 
 
4. Apply the Lagrangian formulation to obtain the dynamic equations of the following 2-link planar
RP (Rotary/Prismatic) arm which has a point mass at the tip as shown in the figure below. The joint
 
displacement vector is: q    . and f are the torque and force applied to the rotary and prismatic
r 
joints, respectively. Express the dynamic equations in matrix-vector form.

Solution:

 
Joint displacement vector: q   
r 

 
Joint velocities vector: q   
 r 

n
Generalized force vector: τ   
f
Kinetic and Potential Energy:

 The total kinetic energy due to the angular motion  and the linear motion r is:
 
1 1
T  mr 2 2  mr 2  
2 2
 
 The potential energy is:

U  mgr sin 

1 2 2 1 2
Lagrange’s equation: L  T  U  mr   mr  mgr sin 
2 2
d L L
  i
dt qi qi

For ,

L
 mr 2

d L
 mr 2  2mrr
dt 

7 
 
 L
  mgr cos 

Generalized force is n
For r,

L
 mr
r
d L
 mr
dt r
L
 mr 2  mg sin 
r
Generalized force is f
Hence, the dynamic equations of the system is given by:

: mr   2mrr  mgr cos   n

2

: mr  mr  mg sin   f

2

They are coupled nonlinear differential equations. Given the control inputs n(t) and f(t),
q(t) can be determined numerically.

Inertia terms: mr 2 , mr

Coriolis term: 2 mrr

Centripetal term:  mr 2

Gravity terms: mgr cos  , mg sin 

Manipulator dynamics in the matrix-vector form:

  C  q, q   G (q)  τ
H(q)q

where H – inertia matrix

C – Coriolis/centripetal vector
G – Gravity vector

 mr 2 0    2mrr   mgr cos    n 

     
 0 r    mr 2   mg sin    f 
m   

8 
 
5. A two-link RR robot arm is as shown below. The mass of each link is lumped at the end of the
link. The lengths of the links are a1 and a2. Obtain the dynamic equations of the following system
using the Lagrangian Formulation. Express the dynamic equations in matrix-vector form.

Solution:
Kinetic and potential energy:
link 1:

1
T1  m1 a1212
2

U1  m1 ga1 sin 1

link 2:

x2  a1 cos 1  a2 cos 1   2 

y2  a1 sin 1  a2 sin 1   2 

 
x2  a11 sin 1  a2 1  2 sin 1   2 

 
y 2  a11 cos 1  a2 1  2 cos 1   2 

 
2
v22  x22  y 22  a1212  a22 1  2 

 
2a1a2 1  2 1  sin 1 sin 1   2   cos 1 cos 1   2  

cos A cos B  sin A sin B  cos  A  B 

cos 1 cos 1   2   sin 1 sin 1   2   cos 1  1   2  
 cos  2 

   
2
v22  x 22  y 22  a1212  a22 1  2  2 a1a2 1  2 1 cos  2

1 1 1
   
2
T2  m2 v22  m2 a1212  m2 a22 1  2  m2 a1 a2 1  2 1 cos  2
2 2 2

9 
 
 U 2  m2 gy2  m2 g  a1 sin 1  a2 sin 1   2  

Lagrange’s equation:

L  T  U  T1  T2  U1  U 2
1 1
   
2
  m1  m2  a1212  m2 a22 1  2  m2 a1 a2 1  2 1 cos  2
2 2
  m1  m2  ga1 sin 1  m2 ga2 sin 1   2 

L
1
  
  m1  m2  a121  m2 a22 1  2  m2 a1a2 21  2 cos  2 
d L

dt 1
    
  m1  m2  a121  m2 a22 1  2  m2 a1a2 21  2 cos  2  m2 a1a2 21  2 2 sin  2 
L
   m1  m2  ga1 cos 1  m2 ga2 cos 1   2 
1

 1   m1  m2  a12  m2 a22  2m2 a1a2 cos  2  1

 
  m2 a22  m2 a1a2 cos  2  2  m2 a1a2 21 2  22 sin  2
  m1  m2  ga1 cos 1  m2 ga2 cos 1   2 

L
2
 
 m2 a22 1  2  m2 a1a21 cos  2

d L
dt 2
 
 m2 a22 1  2  m2 a1a21 cos  2  m2 a1a21 2 sin  2

L
 2
 
  m2 a22 12  1 2 sin  2  m2 ga2 cos 1   2 

 2   m2 a22  m2 a1 a2 cos  2  1  m2 a222  m2 a1 a212 sin  2  m2 ga2 cos 1   2 

In matrix-vector form:

  C  q, q   G (q)  τ
H(q)q

where H – Inertia matrix

C – Coriolis/centripetal vector
G – Gravity vector

 m1  m2  a12  m2 a22  2m2 a1a2 cos  2


 2

m2 a22  m2 a1a2 cos  2   1   m2 a1a2 21 2  2 sin  2 
      
 m2 a22  m2 a1a2 cos  2 m2 a22   2   m2 a1a212 sin  2 
 m  m2  ga1 cos 1  m2 ga2 cos 1   2    1 
 1  
 m2 ga2 cos 1   2    2 

10 
 
6. Derive the dynamical equations of the given robot configuration. Given that the joints are
prismatic; the inertia of link 1 and link 2 are approximated by point masses m1 and m2, respectively;
the joint displacement variables are q1 and q2 and corresponding joint forces are f1 and f2, respectively.
Express the dynamic equations in matrix-vector form.

q2 

m1  m2 
f2
q1  f1
g 

Solution:

v12  q12
v22  q12  q22
1 1 1
T m1 q12  m2 q12  m2 q22
2 2 2
1
 q T H(q)q
2
 m  m2 0 
H 1
 0 m2 

H is a constant matrix (special case) and not function of the generalized coordinates. This also results
in all the Christoffel symbols to be zero.

U  g (m1  m2 )q1
U
g1   g  m1  m2 
q1
U
g2  0
q2

Dynamic equations:

 m1  m2  q1  g  m1  m2   f1
m2 q2  f 2

In matrix-vector form:

  C  q, q   G (q)  τ
H(q)q

11 
 
where H – Manipulator inertia matrix
C – Coriolis/centripetal vector
G – Gravity vector

 m  m2 0
H (q)   1
 0 m2 

0 
C(q, q )   
0 

 g  m1  m2  
G (q)   
 0 

7. Figure below shows a planar 2-link manipulator with link 2 driven by motor 2 which is mounted at
the base. The robot is under the influence of gravitational acceleration along the negative y direction.
Assume the inertia of each link is a point mass at the end of the link. Derive the manipulator inertia
matrix for the manipulator from its total kinetic energy expression. Based on the manipulator inertia
matrix, derive the Christoffel’s three-index symbol elements and obtain the Centripetal/Coriolis
vector. Derive the gravity term of the manipulator and express its dynamic equation in matrix vector
form.
Hint:
In this case, the independent generalized coordinates can be chosen to be and as shown in the
right figure below. In this system, the angle  2 is controlled by the driving motor 2 and is not
affected by 1 .

g 

Solution:
Generalized coordinates:

Kinetic and potential energy:
Position:

12 
 
 x1  l1 cos 1

y1  l1 sin 1

x2  l1 cos 1  l2 cos  2
y2  l1 sin 1  l2 sin  2

Velocity:

x1  l1 sin 11

y  l cos  
1 1 1 1


x2   l1 sin 11  l2 sin  22 
y 2  l1 cos 11  l2 cos  22

v12  x12  y12  l1212

v22  x22  y 22  l1212  l2222  2l1l21 2 cos  2  1 

Working for the above:

 
2
x22  l1 sin 11  l2 sin  22
 l1212 sin 2 1  l222 2 sin 2  2  2l1l212 sin 1 sin  2

 
2
y 22  l1 cos 11  l2 cos  22
 l1212 cos 2 1  l222 2 cos 2  2  2l1l212 cos 1 cos  2

x22  y 22  l1212  l222 2  2l1l212  cos 1 cos  2  sin 1 sin  2 

 l 2 2  l 2 2  2l l   cos    
1 1 2 2 1 2 1 2 1 2

1 1
T m1v12  m2 v2 2
2 2
1 1
 m1l1212  m2 l1212  l2222  2l1l21 2 cos  2  1  
2 2
1 1
  m1  m2  l1212  m2 l2222  m2 l1l21 2 cos  2  1 
2 2
1   m1  m2  l12 m2 l1l2 cos  2  1   1 
 1 2     
2  m2 l1l2 cos  2  1  m2 l22   2 
The manipulator inertia matrix:

 H q  H 12  q     m1  m2  l12 m2 l1l2 cos  2  1  

H  q    11  
 H 21  q  H 22  q    m2 l1l2 cos  2  1  m2 l22 
Coriolis/Centripetal term:
The Christoffel symbols:

13 
 
 H ij 1 H jk
hijk  
qk 2 qi

:
H11 1 H11 1 H11
h111    0
1 2 1 2 1
H12 1 H 22
h122    m2 l1l2 sin  2  1 
 2 2 1
H12 1 H 21 1 H12 1
h121     m2 l1l2 sin  2  1 
1 2 1 2 1 2
H11 1 H12 1
h112     m2 l1l2 sin  2  1 
 2 2 1 2
h121  h112  0

:
H 21 1 H11
h211    m2 l1l2 sin  2  1 
1 2  2
H 22 1 H 22 1 H 22
h222    0
 2 2  2 2  2
H 21 1 H12 1 H 21 1
h212      m2 l1l2 sin  2  1 
 2 2  2 2  2 2
H 22 1 H 21 1 H 21 1
h221     m2 l1l2 sin  2  1 
1 2  2 2  2 2
h212  h221  0

 m l l sin  2  1  22 
C  q, q    2 1 2
2 
 m2 l1l2 sin  2  1  1 
 0 m2 l1l2 sin  2  1  2  1 
   
 m2 l1l2 sin  2  1  1
 0   2 
 Cq

 0  m2 l1l2 sin  2  1  2 

where C    
 m2 l1l2 sin  2  1  1
 0 

Gravity term:

U  m1 gl1 sin 1  m2 g  l1 sin 1  l2 sin  2 

  m1  m2  l1 g sin 1  m2l2 g sin  2

14 
 
 U
: g1    m1  m2  l1 g cos 1
1

U
: g 2   m2l2 g cos  2
 2

 g   m  m2  l1 g cos 1 
G   1   1 
 g 2   m2l2 g cos  2 
Hence, dynamic equation (in Matrix-vector form):

  C  q, q   G (q)  τ
H(q)q

where

  m1  m2  l12 m2 l1l2 cos  2  1  

H q    
 m2 l1l2 cos  2  1  m2 l22 

  m l l sin  2  1  22 
C  q, q    2 1 2
2 
 m2 l1l2 sin  2  1  1 

 m  m2  l1 g cos 1 
G q    1 
 m2l2 g cos  2 

Or   C  q, q  q  G (q)  τ
H(q)q

 0  m2 l1l2 sin  2  1  2  1 

where C   q, q  q     
 m2 l1l2 sin  2  1  1
 0   2 

15 
 
8. Consider a 2 dof RR robot with given link lengths l1 and l2 as shown in the figure below. Axis 1 is
along z-axis. Axis 2 is always in the xy plane and perpendicular to z-axis. You are required to
propose the generalized coordinates and the generalized forces before proceeding to derive the
equations of motion of the robot. The masses of link 1 and link 2 are m1 and m2 (that is, they are point
masses).

m2
y
l1 l2
1 g 
2
m1
x

Solution:
T
q  1  2 

x1  l1 cos 1

y1  l1 sin 1
z1  0

x1  l1 sin 11

y  l cos  
1 1 1 1

z1  0

x2   l1  l2 cos  2  cos 1
y2   l1  l2 cos  2  sin 1
z2  l2 sin  2

 
x2  l22 sin  2 cos 1   l1  l2 cos  2  1 sin 1
y 2   l  sin   sin    l
2 2 2 1 1  l2 cos  2  1 cos 1
z2  l22 cos  2

16 
 
  l  sin   cos  l  l cos  sin    
2
x22  2 2 2 1 1 2 2 1 1

   l  sin   sin    l  l cos    cos    

2
y 22 2 2 2 1 1 2 2 1 1

  l  cos  
2
z22 2 2 2

v12  x12  y12  z12  l1212

v22  x22  y 22  z22   l1  l2 cos  2  12  l222 2
2

1 1
T m1v12  m2 v2 2
2 2
1 1
m1l1212  m2  l1  l2 cos  2  12  l222 2 
2

2 2  


1
2
 
1
m1l12  m2  l1  l2 cos  2  12  m2 l2222
2

2
1   m l 2  m2  l1  l2 cos  2 2 0  1 
 1 2   1 1  
2  0 m2 l22  2 
1   
 1 2  H  1 

2  2 
The manipulator inertia matrix:

 H q  H 12  q    m1l12  m2  l1  l2 cos  2 2 0 
H  q    11  
 H 21  q  H 22  q    0 m2 l22 

Centripetal/Coriolis term:
The Christoffel symbols:

H ij 1 H jk
hijk  
qk 2 qi

H11 1 H11 1 H11

h111    0
1 2 1 2 1
H12 1 H 22
h122   0
 2 2 1
H12 1 H 21
h121   0
1 2 1
H11 1 H12
h112    2m2 l2 sin  2  l1  l2 cos  2 
 2 2 1
h121  h112  2m2 l2 sin  2  l1  l2 cos  2 

17 
 
 H 21 1 H11
h211    m2 l2 sin  2  l1  l2 cos  2 
1 2  2
H 22 1 H 22
h222   0
 2 2  2
H 21 1 H12
h212   0
 2 2  2
H 22 1 H 21
h221   0
1 2  2
h212  h221  0

 2 m2 l2 sin  2  l1  l cos  2  1 2 

C  q, q   
2 
 m2 l2 sin  2  l1  l2 cos  2  1 
Gravity term:

U  m2 gl2 sin  2
U
g1  0
1
U
g2   m2 gl2 cos  2
 2
g   0 
G   1   
 g 2   m2 gl2 cos  2 

  C  q, q   G (q)  τ
H(q)q

9. (Quiz 2000) Derive the equations of motion of the PR manipulator shown in the following figure.
Neglect friction. The length of the first link is l1. The links have point masses, m1 and m2, as shown.
The joint displacement vector is q = [d ]T. 

 

Solution:

d 
Joint displacement vector: q   
 

 d 
Joint velocities vector: q   
 

18 
 
 1
Total kinetic energy, T   m1  m2  d 2  
2

 m1  m2 0
That is, H  q   
 0 0 

0 
Since H is a constant matrix, all the Christoffel’s symbols are zero. That is, C(q, q )   
0 

0
Total potential energy, U  0 . That is, G (q )   
0
Equations of motion:

f
H (q)q  C  q, q   G (q)   
 
 m1  m2 0   d  f 
 0  
 0     

The dynamics corresponding to the 2nd displacement variable  can be omitted.

10. For a two-link robot with [1 2]T as the generalized coordinates, the following expression
has been derived for the total kinetic energy of the robot:

3  1
T    cos  2  12  1  cos  2  1 2  22
2  2

Derive the manipulator inertia matrix, H and obtain the Christoffel’s three-index symbols for
1.

Solution:
1
2

1
2
1
2
1 1
∵
2 2
Comparing with the given total kinetic energy expression of the robot:

19 
 
 3 2 ; 1 ; 1
Hence,
3 2 1
1 1

Now, obtain for , ie. 1.

1
2
1
0
2
1
2
1
0
2
1
2
2

20