Video 3.

1
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Dynamics of Robot Arms

Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Lagrange’s Equation of Motion

Lagrangian
Kinetic Potential
Energy Energy

1-DOF n-DOF

Generalized Coordinates
Generalized Forces
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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Motion of Systems of Particles
• Center of Mass fi
a2 Pi
mi
rOPi
a1
O
a3

Newton’s 2nd Law

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Rigid Body as a System of Particles

• Constraints
Fi
P

Fj
Pj
Pi

• Holonomic Constraints

rOPi rOPj • Constraints on position

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Holonomic Constraints
• Given a system with k particles and l
holonomic constraints
Ø DOF = k – l
Ø n = k – l generalized coordinates
Ø
Ø are independent

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Types of Displacements

• Actual
fi
P

fj
Pj
Pi
• Possible

rOPi rOPj • Virtual (or Admissible)

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.2
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Classification of Forces

Newtonian Lagrangian

Internal vs External Constraint vs Applied

Applied Forces:
Any forces that are not
constraint forces

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
D’Alembert’s Principle

The totality of the constraint forces may be

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
D’Alembert’s & Virtual
Displacements
• Ci – Constraint Surface

TCi q
• TCi – Tangent space of Ci
Ci
• Virtual Displacements
satisfy:
1.
2. Eqn of Motion

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Intuition for D’Alembert’s (1)
From Newton’s 2nd Law

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Intuition for D’Alembert’s (2)
By definition

and

And, b/c motion is constrained

and

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
D’Alembert’s Principle
Alternative Form:
1. Tangent component of are the only ones to
contribute to the particle’s acceleration

2. Normal components of are in equilibrium

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.3
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Principle of Virtual Work
The totality of the constraint forces does no virtual
work.
Virtual Work

By D’Alembert’s Principle

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Lagrange’s EOM for Systems of
Particles (1)
System w/ k particles, l constraints, n = k-l DOF
Virtual Work

jth generalized force

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Lagrange’s EOM for Systems of
Particles (2)

Note: 1)

2)

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Lagrange’s EOM for Systems of
Particles (3)

Kinetic Energy

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Lagrange’s EOM for Systems of
Particles (4)

And if - Potential Energy

- Generalized Applied
Forces

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Summary

• - vector in 3D
• Virtual work
• - component in the direction of

DO virtual work vs. DO NOT

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.4
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Potential Energy

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Kinetic Energy
Kinetic energy of a rigid body consists of two
parts

Translational Rotational
Inertia Tensor

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Inertia Tensor

Cross
Principal
Products of
Moments
Inertia

• 3x3 matrix
• Symmetric matrix

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Let denote the mass density

Principal
Moments of
Inertia

Cross Products
of Inertia

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Remarks
Inertia tensor depends on
• reference point
• coordinate frame

VS

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Example
Compute the inertia tensor of the block with
the given dimensions.
Assume is constant.

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.5
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Potential Energy for n-Link Robot
• 1-Link Robot

• n-Link Robot

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Kinetic Energy for n-Link Robot (1)
• 1-Link Robot

• n-Link Robot

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Review of the Jacobian
' ∈ ℝ$
!(') ∈ ℝ& !: ℝ$ → ℝ&
,1. ,1.
⋯
,! δ! ,-. ,-$
J= … = ⋮ ⋱ ⋮
,-. ,-$ ,1& ,1&
⋯
,-. ,-$
,15
=
Jij ,-6
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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Kinetic Energy of n-Link Robot (2)

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Euler-Lagrange EOM for n-Link
Robot (1)
Assumptions:
• is quadratic function of
• and independent of

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Euler-Lagrange EOM for n-Link
Robot (2)

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Euler-Lagrange EOM for n-Link
Robot (3)

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Euler-Lagrange EOM for n-Link
Robot (4)

Christoffel Symbols

In matrix form

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Skew Symmetry

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Passivity

• Power = Force x Velocity

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Bounds on D(q)
• - eigenvalue of

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
Linearity in the Parameters
System Parameters:
• Mass, moments of inertia, lengths, etc.

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Cartesian Manipulator (1)

q2

q1 y0

x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Cartesian Manipulator (2)

q2

q1 y0

x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Cartesian Manipulator (3)

q2

q1 x0

y0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Cartesian Manipulator (4)

q2

q1 y0

x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.6
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (1)
System parameters:
• Link lengths
• Link center of mass location
y1
x1
• Link masses q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (2)
Recall

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (3)
y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (4)
Kinetic Energy = Translational + Rotational
Translational

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (5)
Kinetic Energy = Translational + Rotational
Rotational

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (6)
Kinetic Energy = Translational + Rotational
Rotational

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (7)
Kinetic Energy = Translational + Rotational
Rotational

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
 Video 3.7
Vijay Kumar and Ani Hsieh

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (8)
Kinetic Energy = Translational + Rotational
Rotational

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (6)

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (7)

Christoffel Symbols

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (8)
Potential Energy

y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Property of Penn Engineering, Vijay Kumar and Ani Hsieh
2-Link Planar Manipulator (9)
Putting it all together

1
y1
x1
q2
y2

y0
P Q
x2
q1
O x0

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Newton-Euler vs. Euler-Lagrange
Ø N-E: Newton’s Laws of Motion
Ø N-E: Explicit accounting for constraints
Ø N-E: Explicit accounting of the reference
frame

Ø E-L: D’Alembert’s Principle + Principle of

• Properties of the E-L EOM

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