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Lecture_ XIII _November 2nd, 2024_Langrange_Dynamics

The document outlines the LaGrange Euler Dynamic Model Algorithm for analyzing 3D robotic systems, detailing steps for calculating moments of inertia, Jacobians, and handling singularities. It explains the consequences of singularities, such as loss of control and high actuator forces, and identifies causes including geometric configurations and workspace boundaries. The document also provides a structured approach to compute manipulator inertia tensors, velocity matrices, and potential energy matrices for robotic joints.

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karan51193
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2 views

Lecture_ XIII _November 2nd, 2024_Langrange_Dynamics

The document outlines the LaGrange Euler Dynamic Model Algorithm for analyzing 3D robotic systems, detailing steps for calculating moments of inertia, Jacobians, and handling singularities. It explains the consequences of singularities, such as loss of control and high actuator forces, and identifies causes including geometric configurations and workspace boundaries. The document also provides a structured approach to compute manipulator inertia tensors, velocity matrices, and potential energy matrices for robotic joints.

Uploaded by

karan51193
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture_ XIII _November 2nd, 2024- study notes

15 November 2024 17:20

LaGrange Euler Dynamic Model Algorithm

We use this as in 3D systems, using traditional methods of arriving at Lagrange equations might
become tricky

Total KE , is analogous to-


-KE found by classical
mechanics

Robotics and Mechanics Page 1


Moments of inertia
about x
Off Diagonal elements are
Moments of inertia called products of inertia
about y Off diagonal elements will be
zero for a symmetric system

Moments of inertia
about z

Robotics and Mechanics Page 2


LaGrange Euler Dynamic Model Algorithm- Broken into
steps using RR Manipulator examples

Robotics and Mechanics Page 3


STEP1

STEP2

Centroid in L1 - coordinate
system

Robotics and Mechanics Page 4


Ix=0, since radius is negligible
Iy=Iz=ML^2/12

STEP2: Find Centre of mass in global coordinate system

Location of Centre of mass, w.r.t base


coordinate system

STEP2: Find inertial tensor in global coordinate system

Inertial tensor, w.r.t base coordinate


system

STEP2: Find Jacobian

Robotics and Mechanics Page 5


Intertial tensor of link 1 , w.r.t base coordinate system

Step2 : Find the Jacobian

Step2 : Partition the Jacobian

Robotics and Mechanics Page 6


Step2 : Partition the Jacobian

Step3 : For Link 2

Step3.1

Step3.2

Step3.3

Robotics and Mechanics Page 7


Step3.3

Step3.4

Step3.5

Robotics and Mechanics Page 8


Step3.5

Step3.6

Step3.5

Step3.7

Robotics and Mechanics Page 9


Step3.8

Step3.9

Step4.1

Computing velocity
matrix for joint 1

Step4.2

Computing velocity
matrix for joint 2

Robotics and Mechanics Page 10


Step5

Step6

These are the boundaries or points at which we will have


mathematical difficulties in computing required
algorithm, (e.g...Tan(90 degrees))

Robotics and Mechanics Page 11


mathematical difficulties in computing required
algorithm, (e.g...Tan(90 degrees))

Jacobian loses

These are the boundaries or points at which we will have


mathematical difficulties in computing required
algorithm, (e.g...Tan(90 degrees))

- When arm is fully stretched,


Jacobian loses its rank
- Can be analogous to fact that,
when arm is stretched, mass
moment of inertia increases
significantly, this difficult to rotate
that mass

A manipulator hits a singularity when its Jacobian matrix loses rank, meaning it becomes non-
invertible (determinant is zero).
In practical terms, this means the manipulator loses some degree of freedom in motion or the ability
to exert forces/torques in certain directions. Singularities can cause control instability or large
actuator forces.

Consequences of Singularity
• Loss of precise control in some directions.
• High joint velocities or forces required to compensate for small end-effector movements.
• Numerical instabilities in inverse kinematics or dynamic computations.

When Does a Manipulator Hit Singularity?


1. Kinematic Singularity: Occurs when the end-effector's motion capabilities are constrained. For
example:
○ The manipulator can no longer move in certain directions in Cartesian space.
○ The velocity mapping from joint space to task space breaks down.
2. Static Singularity: Happens when the manipulator cannot exert certain forces or torques at the
end-effector, due to a loss of controllable directions.

Robotics and Mechanics Page 12


end-effector, due to a loss of controllable directions.
Causes of Singularity
1. Geometric Configurations:
○ Alignment of Axes: When two or more joint axes become collinear or parallel, such as in wrist
singularity in articulated robots.
○ Fully Extended or Folded Configurations: When the manipulator's links are stretched in a
straight line or folded back completely.
2. Workspace Boundaries:
○ Near the edge of the manipulator’s workspace, where small changes in joint angles result in
large changes in the end-effector's position.
3. Redundancy:
○ In redundant manipulators, singularities may occur due to specific joint configurations that
nullify certain degrees of freedom.
4. Mechanism Design:
○ Poorly designed link lengths or joint alignments can inherently introduce singularities in the
workspace.

Steps of Lagrange Euler Dynamic Model

1. Write Forward Kinematic equations


T0_ , T _ …..so on
2. In each link, while performing forward kinematics, go to end of link and then comeback to centre of mass of the link,
Compute Manipulator Inertia tensor
2. For first link, L1 coordinate system is considered Manipulator Inertia tensor is given as the output,
previous manipulator inertia tensor is added up
2.1. Coordinate for Centre of mass, in L1 local coordinate system

2.2. Inertial tensor in Local coordinate system is found next

2.3. Find complete Homogenous transformation matrix T_0_1

2.4 Centre of mass with respect to base coordinate system

Robotics and Mechanics Page 13


2.5 Jacobian of link1

2.6. Inertial tensor in global coordinate system is found next

3.7 Partitioning the Jacobian into A|B sections

Robotics and Mechanics Page 14


3. For second link, L2
coordinate system is considered Manipulator Inertia tensor is given as the output, previous manipulator inertia tensor is
added up
3.1. Coordinate for Centre of mass, in L2 local coordinate system

3.2. Inertial tensor in Local coordinate system is found next

3.3. Find complete Homogenous transformation matrixT_0_2

3.4 Centre of mass with respect to base coordinate system

3.5 Jacobian of link2

3.6. Inertial tensor in global coordinate system is found next

3.7 Partitioning the Jacobian into A|B sections, adding to D(q) formed using link 1, see below

4. Compute Velocity matrix for joints one by one

Robotics and Mechanics Page 15


4. Compute Velocity matrix for joints one by one
4.1 for Joint 1

4.2 for Joint 2

5. Compute potential energy matrix for joints one by one


5.1 for Joint 1
5.2 for Joint 2

6. Combined torque equation which is summation of velocity matrix, potential energy and torque equation

Robotics and Mechanics Page 16


Robotics and Mechanics Page 17

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