3.

Dynamics Modeling and Control of

Manipulators

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 Contents
 Dynamics
• Manipulator control
• Motion control
• Trajectory generation

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 Dynamic modeling of a robot
• The dynamic model of a robotic manipulator
gives the relationship between applied
force/torque, acceleration, mass, inertia and
velocity of the links
• It gives the forces/torques required to carry out a
given work cycle
• Two types
– Forward dynamics and
– Inverse dynamics
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 Dynamic model of a robot
• Forward dynamics
– Given forces/torques applied at the joints, find the
velocity and acceleration of the various links
– Analysis problem
• Inverse dynamics
– Given required acceleration and velocity of the
various links, find the required force/torque at the
joints
– Design problem
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 Dynamic model
• Two important approaches
– Euler-Lagrangian approach(EL)
– Newton-Euler approach (NE)
• The EL method gives closed form solution which
is useful for model based controller design
• The NE method is iterative method which is
useful for computation

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 Dynamic model- EL method
• Lagrangian is defined as the difference
between total kinetic energy and total
potential energy
• L=K-P
• Lagrangian form
 
d  L  L   L  L
    i and Fi  
  
t   x  xi
dt  qi  qi  i
• Where L is the Lagrangian, i is applied torque,
Fi is applied force at joint i, qi is the joint angle
and xi position of the link
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 Dynamic model-LE form
• The general form of robot dynamic model is

Mq q  Cq, q q  Gq   

• Where
– M is n dimensional inertia matrix
– C is centrifugal force/torque
– G is gravitational torque
–  is required force or torque
– q is joint angle
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 Step 1: Identify Model Mechanics
Example: 2-link robotic arm

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 Step 2: Identify Parameters

• For each link, find or calculate

– Mass, mi
– Length, li m1
– Center of gravity, ιCi
– Moment of Inertia, ii

i1=m1l12 / 3

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 Inertia
• If a force acts of a body, the body will
accelerate. The ratio of the applied force to the
resulting acceleration is the inertia (or mass) of
the body.
• If a torque acts on a body that can rotate freely
about some axis, the body will undergo an
angular acceleration. The ratio of the applied
torque to the resulting angular acceleration is
the rotational inertia of the body. It depends
not only on the mass of the body, but also on
how that mass is distributed with respect to
the axis.
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 Step 3: Formulate Lagrangian

• Lagrangian L defined as difference

between kinetic and potential energy:

 L is a scalar function of q and dq/dt

 L requires only first derivatives in time

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 Kinetic and Potential Energies

 Kinetic energy of individual links in an n-link arm

 Potential energy of individual links

Vi  mi gh
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 Energy Sums (2-Link Arm)
T = sum of kinetic energies:

V = sum of potential energies:

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 Step 4: Equations of Motion

• Calculate partial derivatives of L wrt qi, dqi/dt

and plug into general equation:

Non-conservative Forces
Inertia Conservative (damping, inputs)
(d2qi/dt2) Forces

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 Equations of Motion – Structure

• M – Inertia Matrix
– Positive Definite
– Configuration dependent
– Non-linear terms: sin(θ), cos(θ)
• C – Coriolis forces
– Non-linear terms: sin(θ), cos(θ),
(dθ/dt)2, (dθ/dt)*θ
• Fg – Gravitational forces
– Non-linear terms: sin(θ), cos(θ)

Source: 6/11/2019
Peter R. Kraus, 2-link arm dynamics 15
 Equations of Motion for 2-Link Arm,
Relative coordinates

M- Inertia matrix

Conservative forces
Coriolis forces, c(θi,dθi/dt)
(gravity)

Source: 6/11/2019
Peter R. Kraus, 2-link arm dynamics 16
 Dynamic model- NE form
• NE form is based on Newton’s second law
• The sum of all forces acting on a link of the
manipulator leads to a set of equations
• Two steps
– Forward recursion – calculate velocities and
accelerations
– Backward pass- compute the forces and moments
required

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 Forward computation
– First compute the angular velocity, angular acceleration, linear
velocity, linear acceleration of each link in terms of its
preceding link.
– These values can be computed in recursive manner, starting
from the first moving link and ending at the end-effector link.
– The initial conditions for the base link will make the initial
velocity and acceleration values to zero.
Backward computation
– Once the velocities and accelerations of the links are
found, the joint forces can be computed one link at a
time starting from the end-effector link and ending at
the base link.

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 Acceleration of a Rigid Body
• Linear and angular accelerations:

 dB VQ (t  t ) VQ (t )
B B
B
VQ  VQ  lim ,
dt t 0 t
A  d A
 (t  t )  A
 B (t )
B  A
 B  lim B
.
dt t 0 t

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 Linear Acceleration
A
VQ  BAR BVQ  A  B  BA R BQ. : origins are coincident
d A B
( B R Q) BAR BVQ  A  B  BA R BQ. : re-write it as
dt

 d A B A  d A B
A
VQ  ( B R VQ )  B  B R Q   B  ( B R Q)
A B A
: by differentiating
dt dt
 BAR BVQ  A  B  BA R BVQ  A 
  A R BQ  A  ( AR BV  A   A R BQ)
B B B B Q B B

 BAR BVQ  2 A  B  BA R BVQ  A 

  A R BQ  A  ( A   A R BQ).
B B B B B

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 Linear Acceleration
the case in which the origins are not coincident

A  A  A B  A 
VQ  VBORG  B R VQ  2  B B R VQ   B B R Q
A A B A B

 A  B ( A  B BAR BQ).

B
VQ  VQ  0.
B : when B
Q is constant
A
VQ  AVBORG  A  B ( A  B BAR BQ) A 
  AR BQ.
B B
: the linear acceleration of the links of a manipulator with
rotational joints.
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 Angular Acceleration
B is rotation relative to A and C is rotating relative to B
A
C  A  B  BAR B C .
A  A 
C   B 
d A B
dt

B R C . 
A  AR B 
  A   AR B  .
B B C B B C

: the angular acceleration of the links of a manipulator.

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 Motion control
• Motion control involves
– Generation of required trajectory
– Applying of necessary torque/force to joints
• Trajectory planning
– Is generation of the time sequence of points with
location, velocity and acceleration

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 Trajectory planning techniques
• Joint space techniques
– Trajectory is describes the time change of the joint
angles as a function of time
– This is directly applicable for control algorithm
• Cartesian space techniques
– The end effector position and orientation is
described as a function of time
– For control, it has to be converted to joint angles
using Inverse kinematics
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 Steps in trajectory planning
1)Task description
identify the kind of motion required, specification
of required trajectory
• Pick and place operation – point to point motion (PTP)
• Continuous path (CP)– arc welding, painting, etc
2)Selecting and implementing a trajectory planning
technique
3) Computing the trajectory

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 Trajectory planning for Point To Point
motion
• Choose the trajectory of Polynomial of degree n: if
you have n+1 constraints.
• If 4 constraints are given:(n=3)
– Initial position and velocity
– Final position and velocity
qt   a 0  a1t  a 2 t 2  a 3 t 3 (1)

• If 2 more acceleration constraints are given:(n=6)

qt   a 0  a1t  a 2 t 2  a 3 t 3  a 4 t 4  a 5 t 5 (2)

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 Point To Point motion

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 Point to point motion

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 Point to point motion

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 Point to point motion

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 Point to Point motion
• Consider that it is required to move a robot
angle from an initial angle value qs to a final
angle value of qg
• Constraints
– q(0)=qs
– q(tf)=qg
– V(0)=0
– V(tf)=0

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 Point to point motion
• Applying the above constraints into the 3
degree polynomial formula of eq(1) and its
derivative
• The coefficients will be
a0  qs
a1  0

a2 
3
2
qg  qs 
tf

a3 
2
3
qs  qg 
tf

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 Point to point motion

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 Point to point motion

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 Point to point motion

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 Point to point motion

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 Example
• The second joint of a SCARA robot is to be
moved from 30 degree to 105 degree in 5
seconds. Find a cubic polynomial to generate
the smooth trajectory for the joint
• Solution:
– Given qs=30 qg=105, vs=0, vg=0, t=5
– From the above formula
– a0=30, a1=0, a2=9 and a3=-1.2

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 Task space trajectory generation
• Task space methods are convenient for CP
motion generation
• Easier to describe the tool motion
• But it needs inverse kinematics

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