Robotics 2

Dynamic model of robots:

Newton-Euler approach

Prof. Alessandro De Luca

 Approaches to dynamic modeling
(reprise)

energy-based approach Newton-Euler method

(Euler-Lagrange) (balance of forces/moments)
n multi-body robot seen as a whole n dynamic equations written
separately for each link/body
n constraint (internal) reaction forces
between the links are automatically n mainly used for inverse dynamics
eliminated: in fact, they do not in real time
perform work n equations are evaluated in a
n closed-form (symbolic) equations numeric and recursive way
are directly obtained n best for synthesis
(=implementation) of model-
n best suited for study of dynamic
properties and analysis of control based control schemes
schemes n by eliminating the internal reaction forces
and performing back-substitution of all
expressions, we get dynamic equations in
closed-form (identical to Euler-Lagrange!)
Robotics 2 2
 Derivative of a vector in a moving frame
… from velocity to acceleration

!
𝑣" = 0𝑅" 𝑖𝑣" !
𝑅̇ " = 𝑆 0𝜔" 0𝑅
"

!
𝑣̇ " = 0𝑎" = 0𝑅" 𝑖𝑎" = 0𝑅" "𝑣̇ " + 0𝑅̇ " 𝑖𝑣"
= 0𝑅" "𝑣̇ " + 0𝜔" × 0𝑅" 𝑖𝑣" = 0𝑅" #
𝑣̇ # + #𝜔# × 𝑖𝑣"

" " " derivative of a “unit” vector

𝑎" = 𝑣̇ " + 𝜔" × 𝑖𝑣
" in a moving frame
!
𝜔! 𝑑 𝑖 𝑒!
= 𝑖 𝜔! × 𝑖 𝑒!
𝑑𝑡
𝑖𝑒
!

Robotics 2 3
 Dynamics of a rigid body
n Newton dynamic equation
n balance: sum of forces = variation of linear momentum
𝑑
! 𝑓! = 𝑚𝑣" = 𝑚𝑣̇"
𝑑𝑡
n Euler dynamic equation
n balance: sum of moments = variation of angular momentum
𝑑 𝑑
! 𝜇! = 𝐼𝜔 = 𝐼 𝜔̇ + 𝑅𝐼𝑅̅ $ 𝜔 = 𝐼𝜔̇ + 𝑅̇ 𝐼𝑅 ̅ $ + 𝑅𝐼 𝑅
̅ ̇$ 𝜔
𝑑𝑡 𝑑𝑡
= 𝐼𝜔̇ + 𝑆 𝜔 𝑅𝐼𝑅̅ # 𝜔 + 𝑅𝐼𝑅
̅ # 𝑆 # 𝜔 𝜔 = 𝐼 𝜔̇ + 𝜔 × 𝐼𝜔

n principle of action and reaction

n forces/moments: applied by body 𝑖 to body 𝑖 + 1
= − applied by body 𝑖 + 1 to body 𝑖
Robotics 2 4
 Newton-Euler equations -1

link 𝑖
FORCES

center 𝒗𝒄𝒊 𝑓! force applied

of mass from link 𝑖 − 1 on link 𝑖
𝑧"#$ 𝑪𝒊 𝑧"
𝑓!$% force applied
. from link 𝑖 on link 𝑖 + 1
.𝑂 𝑂! 𝑓!$%
𝑓!
!&%
𝑚! 𝑔 gravity force
axis 𝑖 𝑚! 𝑔 axis 𝑖 + 1
(𝑞! ) (𝑞!$% ) all vectors expressed in the
same RF (better in RF𝑖 …)

Newton equation 𝑓# − 𝑓#&' + 𝑚# 𝑔 = 𝑚# 𝑎(# N

linear acceleration of 𝐶!
Robotics 2 5
 Newton-Euler equations -2
link 𝑖
MOMENTS 𝜔!

𝜏! moment applied 𝑧"

𝑧"#$
from link (𝑖 − 1) on link 𝑖 𝜏!$%
𝜏! 𝑟!&%,(! 𝑟!,(!
𝜏!$% moment applied .
from link 𝑖 on link (𝑖 + 1) .𝑂 𝑪𝒊 𝑓!$%
𝑓! !&% 𝑂!
𝑓! × 𝑟!&%,"! moment due to 𝑓! w.r.t. 𝐶! axis 𝑖 axis 𝑖 + 1
(𝑞! ) (𝑞!$% )
−𝑓!$% × 𝑟!,(! moment due to −𝑓!$% w.r.t. 𝐶!
all vectors expressed in
gravity force gives the same RF (… RF𝑖 !!)
Euler equation no moment at 𝐶!

𝜏# − 𝜏#&' + 𝑓# × 𝑟#)',(# −𝑓#&' × 𝑟#,(# = 𝐼# 𝜔̇ # + 𝜔# × 𝐼# 𝜔# E

angular acceleration of body 𝑖

Robotics 2 6
 Forward recursion
Computing velocities and accelerations
§ “moving frames” algorithm (as for velocities in Lagrange)
§ for simplicity, only revolute joints here
(see textbook for the more general treatment)
initializations
!
𝜔! = !&%𝑅!# !&%
𝜔!&% + 𝑞̇ ! !&%𝑧!&% (
𝜔(
!
𝜔̇ ! = !&%𝑅!# !&%
𝜔̇ !&% + 𝑞̈ ! !&%𝑧!&% + !&%𝑅̇ !# !&%
𝜔!&% + 𝑞̇ ! !&%𝑧!&%
!&% # !&% !&% !&% !&% (
AR = 𝑅! 𝜔̇ !&% + 𝑞̈ ! 𝑧!&% + 𝑞̇ ! 𝜔!&%× 𝑧!&% 𝜔̇ (
(
!
𝑎( − 0𝑔
𝑎! = !&%𝑅!# !&%𝑎!&% + !𝜔̇ ! × !𝑟!&%,! + !𝜔! × !
𝜔! × !𝑟!&%,!
!
𝑎"! = !𝑎! + !𝜔̇ ! × !𝑟!,"! + !𝜔! × !
𝜔! × !𝑟!,"!

the gravity force term can be skipped in Newton equation, if added here
Robotics 2 7
 Backward recursion
Computing forces and moments
eliminated, if inserted
from 𝑁! to 𝑁!&% in forward recursion (𝑖 =0) initializations
!
𝑓! = !𝑅!$% !$%𝑓!$% + 𝑚! !
𝑎"! − !𝑔 𝑓)$% 𝜏)$%
F/MR
!
𝜏! = !𝑅!$% !$%𝜏!$% + !
𝑅!$% !$%𝑓!$% × !𝑟!,"! − !𝑓! × !
𝑟!&%,! + !𝑟!,"!

from 𝐸! to 𝐸!&% + !𝐼! !𝜔̇ ! + !𝜔! × !𝐼! !𝜔!

at each recursion step, the two vector equations (𝑁𝑖 + 𝐸𝑖 ) at joint 𝑖 provide
a wrench (𝑓! , 𝜏! ) ∈ ℝ*): this contains ALSO reaction forces/moments at
the joint axis ⇒ to be “projected” along/around this axis to produce work
! # !
𝑓! 𝑧!&% + 𝐹)! 𝑞̇ ! for prismatic joint 𝑁 scalar
FP 𝑢! = ; ! # !
𝜏! 𝑧!&% + 𝐹)! 𝑞̇ ! for revolute joint equations
at the end
generalized forces add any dissipative term
(in rhs of Euler-Lagrange eqs) (here, viscous friction only)
Robotics 2 8
 Comments on Newton-Euler method
n the previous forward/backward recursive formulas can
be evaluated in symbolic or numeric form
n symbolic
n substituting expressions in a recursive way

n at the end, a closed-form dynamic model is obtained, which

is identical to the one obtained using Euler-Lagrange (or any

other) method
n there is no special convenience in using N-E in this way …

n numeric
n substituting numeric values (numbers!) at each step

n computational complexity of each step remains constant ⇒

grows in a linear fashion with the number 𝑁 of joints (𝑂(𝑁))

n strongly recommended for real-time use, especially when the

number 𝑁 of joints is large

Robotics 2 9
 Newton-Euler algorithm
efficient computational scheme for inverse dynamics
(
𝜔( , (𝜔̇ ( , (𝑎( − (𝑔 (at robot base) numeric steps
at every instant 𝑡
𝑞%
$
𝑞̇ % AR 𝑓$ , $𝜏$ FP 𝑢%
𝑞̈ %
$
𝜔$ , $𝜔̇ $ , $𝑎$ , $𝑎)$ F/MR

%
inputs 𝑓% , %𝜏% outputs

&#$
𝜔&#$ , &#$𝜔̇ &#$ , &#$𝑎&#$ , &#$𝑎),&#$
𝑞)
&
𝑞̇ ) AR 𝑓& , &𝜏& FP 𝑢)
𝑞̈ )
&
𝜔& , &𝜔̇ & , &𝑎& , &𝑎)& F/MR
(force/moment exchange
&'$
𝑓&'$ , &'$𝜏&'$ from EE to environment)
Robotics 2 10
 Matlab (or C) script
assuming no interaction
general routine 𝑁𝐸# (arg1, arg2, arg3) with the environment
(𝑓&'$ = 𝜏&'$ = 0)
n data file (of a specific robot)
n number 𝑁 and types σ = 0,1 + of joints (revolute/prismatic)
n table of DH kinematic parameters
n list of ALL dynamic parameters of the links (and of the motors)
n input
n vector parameter 𝛼 = 0𝑔, 0 (presence or absence of gravity)
n three ordered vector arguments
n typically, samples of joint position, velocity, acceleration

taken from a desired trajectory

n output
n generalized force 𝑢 for the complete inverse dynamics
n … or single terms of the dynamic model
Robotics 2 11
 Examples of output

n complete inverse dynamics

𝑢 = 𝑁𝐸 "5 (𝑞𝑑 , 𝑞̇ 7 , 𝑞̈ 7 ) = 𝑀(𝑞7 )𝑞̈ 7 + 𝑐(𝑞7 , 𝑞̇ 7 ) + 𝑔(𝑞7 ) = 𝑢7
n gravity term
𝑢 = 𝑁𝐸 "5 (𝑞, 0, 0) = 𝑔(𝑞)
n centrifugal and Coriolis term
𝑢 = 𝑁𝐸6 (𝑞, 𝑞,̇ 0) = 𝑐(𝑞, 𝑞)
̇
n 𝑖 -th column of the inertia matrix
𝑒! = 𝑖-th column
𝑢 = 𝑁𝐸6 (𝑞, 0, 𝑒# ) = 𝑀# (𝑞) of identity matrix
n generalized momentum
𝑢 = 𝑁𝐸6 𝑞, 0, 𝑞̇ = 𝑀 𝑞 𝑞̇ = 𝑝
Robotics 2 12
 A further example of output
n factorization of centrifugal and Coriolis term
𝑢 = 𝑁𝐸6 𝑞, 𝑞,̇ 0 = 𝑐 𝑞, 𝑞̇ = 𝑆(𝑞, 𝑞)
̇ 𝑞̇
n for later use, what about a “mixed” velocity term?
𝑢 = 𝑁𝐸6 (𝑞, 𝑞̇ 8 , 0) = 𝑆(𝑞, 𝑞̇ 8 )𝑞̇ 8
𝑆(𝑞, 𝑞)
̇ 𝑞̇ 8 ⇎ no good!
𝑢 = 𝑁𝐸6 (𝑞, 𝑒# 𝑞̇ 8# , 0) = 𝑆# (𝑞, 𝑒# 𝑞̇ 8# )𝑞̇ 8#
a) 𝑆 𝑞, 𝑞̇ 𝑞̇ 8 = 𝑆 𝑞, 𝑞̇ 8 𝑞̇ , when using Christoffel symbols
b) 𝑆 𝑞, 𝑞̇ + 𝑞̇ 8 𝑞̇ + 𝑞̇ 8 = 𝑆 𝑞, 𝑞̇ 𝑞̇ + 𝑆 𝑞, 𝑞̇ 8 𝑞̇ 8 + 2𝑆 𝑞, 𝑞̇ 𝑞̇ 8
1
⇒ 𝑢 = 𝑁𝐸6 𝑞, 𝑞̇ + 𝑞̇ 8 , 0 − 𝑁𝐸6 𝑞, 𝑞,̇ 0 − 𝑁𝐸6 (𝑞, 𝑞̇ 8 , 0)
2
= 𝑆 𝑞, 𝑞̇ 𝑞̇ 8 (i.e., with 3 calls of standard NE algorithm)
[Kawasaki et al., IEEE T-RA 1996]
Robotics 2 13
 Modified NE algorithm
2 # (arg1, arg2, arg3, arg4) with 4 arguments
modified routine 𝑁𝐸
[De Luca, Ferrajoli, ICRA 2009]

E : 𝑥, 𝑦, 𝑦, 𝑧 = 𝑁𝐸: (𝑥, 𝑦, 𝑧)
𝑁𝐸 consistency property

e.g., E "5 𝑞, 0, 0, 0 = 𝑁𝐸 "5 𝑞, 0, 0 = 𝑔(𝑞)

𝑢 = 𝑁𝐸
E 6 𝑞, 𝑞,̇ 𝑞,̇ 0 = 𝑁𝐸6 𝑞, 𝑞,̇ 0 = 𝑐 𝑞, 𝑞̇ = 𝑆(𝑞, 𝑞)
𝑢 = 𝑁𝐸 ̇ 𝑞̇

E 6 𝑞, 𝑞,̇ 𝑞̇ 8 , 0 = 𝑆(𝑞, 𝑞)
⇒ 𝑢 = 𝑁𝐸 ̇ 𝑞̇ 8 with 𝑀̇ − 2𝑆 skew-symmetric
(i.e., with 1 call of modified NE algorithm)

E 6 𝑞, 𝑞,̇ 𝑒# , 0 = 𝑆# (𝑞, 𝑞)
⇒ 𝑢 = 𝑁𝐸 ̇
(i.e., the full matrix 𝑆 satisfying the skew-symmetry of
𝑀̇ − 2𝑆 with 𝑁 calls of the modified NE algorithm)
Robotics 2 14
 Inverse dynamics of a 2R planar robot

desired (smooth) joint motion:

quintic polynomials for 𝑞%, 𝑞, with
⇔
zero vel/acc boundary conditions
o o o o
from (90 , -180 ) to (0 , 90 ) in 𝑇 = 1 s

Robotics 2 15
 Inverse dynamics of a 2R planar robot

zero final torques

initial torques =
𝑢% ≠ 0, 𝑢* = 0
free equilibrium
balance
configuration
link weights
+ o o
in final (0 , 90 )
zero initial
configuration
accelerations

motion in vertical plane (under gravity)

both links are thin rods of uniform mass 𝑚% = 10 kg, 𝑚* = 5 kg
Robotics 2 16
 Inverse dynamics of a 2R planar robot

torque contributions at the two joints for the desired motion

= total, = inertial
= Coriolis/centrifugal, = gravitational
Robotics 2 17
 Use of NE routine for simulation
direct dynamics

n numerical integration, at current state (𝑞, 𝑞̇ ), of

𝑞̈ = 𝑀)' (𝑞)[𝑢 – (𝑐(𝑞, 𝑞)
̇ + 𝑔(𝑞))] = 𝑀)' (𝑞)[𝑢 – 𝑛(𝑞, 𝑞)]
̇
n Coriolis, centrifugal, and gravity terms
𝑛 = 𝑁𝐸 "5 (𝑞, 𝑞,̇ 0) complexity 𝑂(𝑁)
n 𝑖 -th column of the inertia matrix, for 𝑖 = 1, . . , 𝑁
𝑀# = 𝑁𝐸6 (𝑞, 0, 𝑒# ) 𝑂(𝑁 ,)
n numerical inversion of inertia matrix
𝐼𝑛𝑣𝑀 = inv(𝑀) 𝑂(𝑁 -)
but with small coefficient
n given 𝑢, integrate acceleration computed as
new state (𝑞, 𝑞̇ )
𝑞̈ = 𝐼𝑛𝑣𝑀 ∗ [𝑢 – 𝑛]
and repeat over time ...
Robotics 2 18