Ch.

7: Dynamics
 Example: three link cylindrical robot

• Up to this point, we have developed a

systematic method to determine the forward
and inverse kinematics and the Jacobian for
any arbitrary serial manipulator
– Forward kinematics: mapping from joint
variables to position and orientation of the
end effector
– Inverse kinematics: finding joint variables that
satisfy a given position and orientation of the
end effector
– Jacobian: mapping from the joint velocities to
the end effector linear and angular velocities
• Example: three link cylindrical robot
Why are we studying inertial dynamics and
control?
Kinematic vs dynamic models:
• What we’re really doing is modeling the manipulator
• Kinematic models
• Simple control schemes
• Good approximation for manipulators at low velocities and
accelerations when inertial coupling between links is small
• Not so good at higher velocities or accelerations
• Dynamic models
• More complex controllers
• More accurate
 Methods to Analyze Dynamics

• Two methods:
– Energy of the system: Euler-Lagrange method
– Iterative Link analysis: Euler-Newton method
• Each has its own ads and disads.
• In general, they are the same and the results are the same.
 Terminology

• Definitions
– Generalized coordinates:

– Vector norm: measure of the magnitude of a vector

• 2-norm:

– Inner product:
 Euler-Lagrange Equations

• We can derive the equations of motion for any nDOF system by

using energy methods
 Ex: 1DOF system

• To illustrate, we derive the equations of motion for a 1DOF

system
– Consider a particle of mass m
– Using Newton’s second law:
 Euler-Lagrange Equations

• If we represent the variables of the system as generalized

coordinates, then we can write the equations of motion for an
nDOF system as:
d L L
  i
dt q i qi
Ex: 1DOF system
 Ex: 1DOF system

• Let the total inertia, J, be defined by:

J  r 2J m  J l
• :
 Inertia

• Inertia, in the body attached frame, is an intrinsic property of a

rigid body
– In the body frame, it is a constant 3x3 matrix:

I xx I xy I xz 
I  I ij   I yx
 
I yy I yz 
I zx I zy I zz 

– The diagonal elements are called the principal moments of inertia
and are a representation of the mass distribution of a body with
respect to an axis of rotation:
Iii   r 2dm   r 2  x, y, z dV   r 2  x, y, z dxdydz
V V V

• r is the distance from the axis of rotation to the particle

 Inertia

• The elements are defined by:

Center of gravity

 
I xx   y 2  z 2  x, y , z dxdydz
principal
I yy   x 2
z 2
 x, y, z dxdydz moments
p
  x  x, y, z dxdydz of inertia
I zz 2
y 2

(x,y,z) is
the density
I xy  I yx    xy  x, y , z dxdydz
cross ri
I xz  I zx    xz x, y , z dxdydz products
of inertia
pi
I yz  I zy    yz x, y , z dxdydz

The i thpoint
 The Inertia Matrix

Calculate the moment of inertia of a cuboid

about its centroid:
Since the object is symmetrical about the CG,
all cross products of inertia are zero z
d
y
w
x h
 Inertia

• First, we need to express the inertia in the body-attached frame

– Note that the rotation between the inertial frame and the body
attached frame is just R
 Newton-Euler Formulation

• Rules:
– Every action has an equal reaction
– The rate of change of the linear momentum equals
the total forces applied to the body

dmv
f   ma
dt

– The rate change of the angular momentum equals

the total torque applied to the body.

dI OO
O 
dt
 Newton-Euler Formulation

• Euler equation
Rii1
 Force and Torque Equilibrium

• Force equilibrium

• Torque equilibrium
Angular Velocity and Acceleration
Initial and terminal conditions
 F

L2 Next class…
L1

• Moment of Inertia
 F

L2
L1

  JTF

  ( L1sin 1  L2 sin(  1   2))  L2 sin( 1   2) 

J   
 L1cos 1  L2 cos(1   2) L2 cos( 1   2) 

  ( L1sin 1  L2 sin(  1   2)) L1cos  1  L2 cos( 1   2) 

J T   
  L2 sin(  1   2) L2 cos( 1   2) 
det( J T )  L1L2 sin(  2)

 f 1
F   
 f 2 f 2  f 1 tan  1