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Robot Arm KINEMATICs and Dynamics

This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

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Tirth Vyas
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110 views27 pages

Robot Arm KINEMATICs and Dynamics

This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

Uploaded by

Tirth Vyas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Robot Arm Dynamics

D H notation MATRIX
RP Arm forward kinematics
Frame assignment
RRR arm
Inverse Kinematics
• Forward kinematics generalised results as
Robot Work space
Reachable work space
Multiple Solutions
Redundant Manipulator
Contents
• Introduction
• Applications (Robocon projects)
• Lagrange Euler Formulation
• Dynamic model of One DoF manipulator
• Dynamic model of Two DoF Manipulator
• General LE formulation algorithm
• MATLAB programme - Simulation
Introduction
Kinematics
• Studies the motion without regard for the cause of motion and its effect
• Needs information of system architecture i.e. links, link lengths, link
twisting etc.
• Provides information for position, velocity and acceleration

Dynamics
• Studies the cause of motion and its effect
• Needs information of motions like position, velocity, acceleration etc.
• Provides information for force and torque
Introduction
• Kinematics of Robotic Arm
• Relation between the Joint variables and End effector
positions
• Forward
Joint End
• Inverse
variable effector
s positions
Introduction
• Equation of Motion (EOM)
• Relationship between joint actuator torques and End
motion of links
Joint
actuato effector
• Used for
r forces motion
• Simulation (Forward)
• Design of control algorithm (Inverse)

Lagrange-Euler Newton-Euler

Lagrange Mechanics Newtonian mechanics

Energy Based Force balance


Lagrange Mechanics

• L = Scalar function called Lagrangian Function


• K = Total kinetic energy of the manipulator
• P = Total potential energy of the manipulator
• Equation of Motion (Dynamic Model)
• for i=1, 2, 3, … n

• q = Generalized coordinates
x
One DoF linear System f m

• Equation of Motion

•  Newton’s Law
One
Y1
DoF Manipulator – Dynamic Model

m1 • Equation of Motion
(x1,y1)

θ •

X1 •
Y1
Two DoF Manipulator – Dynamic Model
• Kinetic Energy
(x2,y2) X2
g m2

θ2
• Potential Energy
• and
m1
• Lagrangian Function
(x1,y1)
θ1
X1
()
1 1 2˙ 2 1 2 ˙ 2 ˙ 2 ˙ ˙ 1 ˙ 2 ˙ ˙ 1 1
()
𝐿= 𝑚1+𝑚2 𝑙1 𝜃1 + 𝑚2𝑙2 (𝜃1 +𝜃2 +2𝜃1𝜃2)+ 𝑚2𝑙1𝑙2𝐶2(𝜃1 +𝜃1𝜃2)− 𝑚1+𝑚2 𝑔𝑙1𝑆1− 𝑚2𝑔𝑙2𝑆12
23 6 2 2 2
Two DoF Manipulator – Dynamic Model
• and

Mii = effective inertia


Mij = effective coupling inertia
Hi = centrifugal and Coriolis acceleration force
Gi = gravity
Generalized EOM using LE formulation for n
DOF manipulator
𝑛 𝑖 𝑖 𝑛
1
2 𝑖=1 𝑗=1 𝑘=1
𝑗 −1 0
[
𝐿= ∑ ∑ ∑ 𝑇𝑟 (❑𝑇 𝑗−1 𝑄 𝑗 ❑𝑇 𝑖 ) 𝐼 𝑖 ( ❑𝑇 𝑘−1 𝑄 𝑘 ❑𝑇 𝑖 ) 𝑞˙ 𝑗 𝑞˙ 𝑗 + ∑ 𝑚𝑖 𝑔 ¿0𝑇 𝑖 ❑𝑟 𝑖
0 𝑘− 1 𝑇

𝑖=1
𝑖
]
𝑛 𝑛 𝑛
𝜏 𝑖= ∑ 𝑀 𝑖𝑗 (𝑞) 𝑞¨ 𝑗 + ∑ ∑ h𝑖𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘+𝐺𝑖
𝑗=1 𝑗=1 𝑘=1

[ ]
𝑛 𝑛
𝑛
𝜕 ( 𝑑𝑝𝑘 )
∑ 𝑇𝑟 [ 𝑑 𝑝𝑗 𝐼 𝑝 𝑑𝑝𝑖 ] h𝑖𝑗𝑘 = ∑ 𝐺𝑖 =− ∑ 𝑚𝑝 𝑔 𝑑 𝑝𝑖 ❑𝑟 𝑝
𝑇 𝑇 𝑝
𝑀 𝑖𝑗= 𝑇𝑟 𝐼 𝑝 𝑑 𝑝𝑖
𝑝=m ax ⁡(𝑖 , 𝑗) 𝑝=m ax ⁡( 𝑖, 𝑗 ,𝑘 ) 𝜕 𝑑𝑝 𝑝=𝑖

{
0 𝑗 −1 𝑘− 1
𝜕 𝑑 𝑖𝑗 𝑇 𝑗 − 1 𝑄 𝑗 ❑𝑇 𝑘 −1 𝑄𝑘 ❑ 𝑇 𝑖 𝑓𝑜𝑟 𝑖 ≥ 𝑘 ≥𝑖
❑
= 𝑇 𝑄 𝑘 −1𝑇 𝑄 𝑗 − 1𝑇 𝑓𝑜𝑟 𝑖 ≥ 𝑗 ≥ 𝑘
0
𝜕 𝑞𝑘 𝑘− 1❑ 𝑘 ❑ 𝑗− 1 𝑗 ❑ 𝑖
0 𝑓𝑜𝑟 𝑖 ≥ 𝑘≥ 𝑖
RoboAnalyzer – Visualization
Matlab programme

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