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Chapter-4

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3 views

Chapter-4

Uploaded by

yonasamare126
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 16

CHAPTER-4

Dynamic Modeling of a
Robot
Dynamic Modeling of a Robot
• The dynamic model of a manipulator is useful for computation of torque
and force required for the execution of a typical work and gives vital
information for the design of links, joints, drives, and actuators.
• The dynamic behavior of the manipulator provides relationship between
joint actuator torques and motion of links for simulation and design of
control algorithms.

2
Lagrangian Method of
Modelling
• Lagrangian mechanics is used based on the differentiation of the energy
terms with respect to the system’s variable and time.
• As the complexity of the system increases, the Lagrangian method
becomes relatively simpler to use.
• The Lagrangian mechanics is based on two generalized equations.
• One for linear motions and the other for rotational motions.

3
Cont..
• These are
• Summation of all external forces for a linear motion Fi is given by,

• Summation of all external torques in a rotational motion Ti is given by,

4
Cont..
• To obtain the equations of motion, it is important to derive energy equations
for the system and then differentiate the Lagrangian according to
Equations given above.

5
Coordinate Transformation

• 2-link arm, relative coordinates


• Step 1: Define x and y in terms of
θ1 and θ2

6
Coordinate Transformation

• Step 2: Take partial derivatives


to find J

7
Step 1: Identify Model
Mechanics
Example: 2-link robotic arm

8
Step 2: Identify Parameters

• For each link, find or calculate


• Mass, mi
• Length, li
• Center of gravity, lCi
• Moment of Inertia, ii m1

i1=m1l12 / 3

9
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  m i l Ci g sin(  i ) h0 i Height of
link end

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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:

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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)

14
Equations of Motion for 2-Link
Arm, Relative coordinates
M- Inertia matrix

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


(gravity)

15
Alternate Form: Absolute Joint
Angles
• If relative coordinates are
written as θ1’,θ2’, substitute
θ1=θ1’ and θ2=θ2’+θ1’

 Advantages:
 M matrix is now symmetric
 Cross-coupling of  eliminated from C,  from F matrices
 Simpler equations (easier to check/solve)
16

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