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    A Geométrical Formulation of The Dynamical Equations Describing Kinematic Chains - Brockett, Stokes, Park

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    Marlon Andres Cajamarca Vega
    Geometric tools to formulate or obtein the dynamical model of open chains. The tools used are Lie Groups, Lie Algebras and screw motions.

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    A Geométrical Formulation of The Dynamical Equations Describing Kinematic Chains - Brockett, Stokes, Park

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    Marlon Andres Cajamarca Vega
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    Geometric tools to formulate or obtein the dynamical model of open chains. The tools used are Lie Groups, Lie Algebras and screw motions.

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    A Geométrical Formulation of the Dynamical Equations Describing Kinematic Chains- Brockett, Stokes, Park

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    Geometric tools to formulate or obtein the dynamical model of open chains. The tools used are Lie Groups, Lie Algebras and screw motions.

    Copyright:

    © All Rights Reserved
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    Download as pdf
    9 views5 pages

    A Geométrical Formulation of The Dynamical Equations Describing Kinematic Chains - Brockett, Stokes, Park

    Uploaded by

    Marlon Andres Cajamarca Vega
    Geometric tools to formulate or obtein the dynamical model of open chains. The tools used are Lie Groups, Lie Algebras and screw motions.

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    © All Rights Reserved
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    ‘A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains Roger W. Brockett" n of Applied Science Harvard University Divi ‘Ann Stokes Division of Applied Science Harvard University Frank Park Department of Mechanical Engineering University of California at Irvine 1 Introduction Although textbooks often regard the problem of gen ‘erating the dynamical equations of a kinematic chain ts being just an exercise in classical mechanics, the complexity one encounters in this process has lead to repeated attempts to organize the computations in a ‘efficient and transparent way. The literature has not stabilized on any particular scheme, however, and one is tempted to guess that this is because the attempts ‘at simplification usually involve the use of a number of ad hoe definitions and choices of notation. In this paper we show that certain standard ideas from geom- ‘try, especially the idea of a one parameter group of transformations, when used systematically, lead to @ reasonably elegant general formulation of the dynam- jes of open chain manipulators. We build on ideas hhave been applied to manipulators kinematics by Brockett (3] and McCarthy [5], for example, and to the description of mechanical compliance by Loncarcic 4 ‘in this paper we develop a general expression for the kinetic energy associated with a kinematic chain ‘and use it to derive the dynamical equations, In ‘our expression for the kinetic energy, the dependence fon the chain's parameters is particularly transpar- fent, Such a representation is desireable in applica- tions such as adaptive control and robot calibration, here one needs to isolate distinct physical quantities, ‘The kinetic energy is expressed using standard geo- metric operations e.., group multiplication, exponen tiation, and adjoint mappings. We take advantage of ietheoretic identities to simplify the expressions for Tin work was tupporte in part by the National Sience Foundation under Enginering Research Center Program, NSP CDR -Ssna012 and by the US Army Masearch Offce un- fer grant, DAALOD96K-0171( Center for Inteligent Contvl Syaterm) 105047209 $3.00© 1968 EE or thooe derivatives of the inertia matrix which appear in Lagrange’s equations. For example, an elegant expres- sion for the Coriolis terms is provided. The equations ‘of motion for a serial chain are written in a general {form which requires no adaptation for specific prob- lems. Finally, we use this representation to classify dynamically balanced chains, 2 Geometric Formalism 2.1 Background We begin with few dfnitons and an expla tur notation, Denote euclidean apace by EX. The Special Euclidean group is the group of rgd trate fGematons on E?, Les transformations of the form fee Ret prwhere Rib an ovenation preerving or ‘hogonal testormation ad pin B®. The rou of seek tanformations wil be denoted by SEQ). The iroup of vientation preserving orthogoal transtor Station i called the spel ethogonal group and Wil be denoted by SOG). Given a erence frame a Transformation may be repreened bythe 4:4 mate T= (Bt), that (5) = (4 1)(5). The path ofa tigid bed in eucldenh space corresponds o's path in SE(3) nthe following way. Lata be a fied teference frame, aad 8 bea frre attached tothe body AL time {the potion ofthe gin of with report to a aiven by paa(®), and the columns of Rea(t) are the unit exo fhe ae gf ame with ropes to. The definition Tay = (*3* ‘then implies a convenient fue or eomposto of transformations: Tes = Tac Wercell hat Lie group Cis smooth nusifld ou wich dened continous group operations of mel Tpleation and inversion, The Lie group structure of ‘SE(3) is utilized extensively in this paper. The Lie algebra g associated with G is a vector space together with a bilinear map [4:6 x 6 + 9, called the Lie bracket, such that (i) [9] = —[y,2](anti-eymmetry) and (i) ff2.3h,2] + [ly shal + [vals] = 0 Gacabi identity) We represent elements of SE(S) by 4 x-4 matrices of the type described above. I is suicient for the purposes ofthis paper to think of Lie groups and al fcbran a2 consisting of square matties, The matrix representation of the algebra g can then be found by differentiating one-parameter paths on the group at the identity. The Lie bracket i defined a» the matsix commutator: [4,9] AB—BA, where A,B aze in For matrix representations of the group, Ady 8» in eimply ‘Ady n= ang a for 9 € G andy € g both matrices. The map ad, is given by: adv = [n¥) ‘here 9, € g. The following identities for Ad and ad will be used frequent: Ads Ads = Ades and Adalady ) = adag(Ade v) ‘They can be verified ditectly by the definitions. Fi: nally, since we are dealing with matrices, the expo- nential mapping exp: @—~ Gis just the familiar matrix ‘exponential: exp(4) = I+ A+ fA? +... for Ag ‘The 44 matrix representation of the algebra e(3) ‘sociated with SB(S) is readily seen to consist of all ‘matrices ofthe form: (8 $) where 0 is a 8x 3 skew- symmetric matrix and v € R®. Velocity vectors associ. ‘ated with paths in SE(3) are identified with the algebra in two canonical ways (Abraham and Marsden, 1978). ‘These two identifications have an appealing physical interpretation, Let the 4 x 4 matrix Tas(t) describe the path of body & relative to frame a. Tus [e is ‘a tangent vector at Ta(to) € SE(3) which is mapped into the matrix representation of the algebra by mul- tiplication on the left by the inverse of Ty a ea Ty G tatty # (M8 8) Ey Vo € (soften referred toa the “body gene sed velocity of body ecaie ite indopentent Of the potion ofthe fied reference frame a The sc fond form, 4Tex Ta connmonly called the “pata velocity ofthe it body 3 Rigid Body Dynamics In this section, we will explore the dynamics ofa rigid body in terms of the 4x4 matrices described above. Of cours, the standard approach in this case is to write the equations in terms of the center of mast/ principal axes and separate equations for conservation of linear ‘and rotational momentum, ‘The complexity encoun- tered in multictink chain dynamics, however, makes & ‘general 4 4 matrix formulation of rigid body dynam- ico useful building block. 3.1 Kinetic Energy ‘We first will write the equations of motion fora rigid body with a frame at the center of mass, aligned with the principal axes. Let V € se(3) be the *body-fixed” velocity with respect to this frame. frame on the body. Straight-forward calculation yield that the kinetic en- ‘ergy of the body may be expressed a T= F(VMVT) +u(VVIVT) 2) ih ad J i ded aeay(" 8 aan" °) Dil2.0.0) 0 an) J Here, 1 = Diag(t, Ia), and m, 1 are the mass and principal moments of inertia of the rigid body. ‘The kinetic energy of course can be expressed in ‘terms of another frame, which we index by p. ‘The “body-fixed” velocity of this frame is Vp, Vp ‘Adz,, V, where Tye isthe transformation from the een ter of mass frame c to feame p. The kinetic energy: FOG MEM VE) + 05% IVF) Gy = TS Top My = Tyo TE, Jy = Ty TE ‘This kinetic energy defines an inner product on TSEQ) (WonVo) = eG pVeMy Vg") + tol IpVp dp Ve) 3.2 Equations of Motion Lagrangian dynamics are derived by requiring that the first variation of the integral: t= fmm be zero, For any W € ae(2), the trajectory Vp Uy of the rigid body must then sais pW) = Wp LVAD. ® This form ofthe equations will be useful for deriving general “culer-angle” equations of motion, and fr the fulltink chain ‘As an alternative to Bq. 3, a matricform of the equations of motion takes the form ply My + JnVody = (IGQ)*Up Noes ¥9] Dit. e ‘We now show how Ea. 3 can be used to equations of retion in six coordinates, Let 2 = (eu %.--26) be coordinates ofthe second kind for SE(3). That i, the position orientation of feme p with respect to an Toy = exp( Ast) exp(A229) ‘Then: exo( doze) =D Ade, Ae for The = exp(Anze) exp( Anza) ...exp(Aaze) and: ie = Dhan Adit DY ars Ai ddr, Ae Ries Letting W = Ady, As the kth equation of motion is: (Adra As Adra As) Hl Ada As Ad, Ai} Adra Ai) + ((Adra At dry Addy As) + ((Adr,, An, Ady, Am), Adres At) ‘and m= max(ij),m = min(i,)- ‘This formula, while not as simple as the usual rigid body equations of mo- tion, generalizes nicely to the multi-link chain, 4 Serial Linkages and the Prod- uct of Exponentials Formula ‘The serial linkage to be co shown in Fig. 1. sed in this paper is Figure 1: Serial Mechanism Recall that Ros, pos are the orientation and position of frame k relative to frame O. Frame b ia at the cen- ter of mas of link & with axes corresponding to the principle axes of the link. It has been observed that To = (Ro 72) can be expressed as the product of ‘one-parameter subgroups of SE(3), ie. group elements of the form exp(@B) where @ is « parameter and B is ‘ constant element of the algebra. The expression: Tox(a) = exp(auAs)exp(eeAa)...exp(quAe) Na (4) is often called the product of exponentials formula for ie ehain. The vetor @ = (€4s 2): 40)" the joint configuration. Ay € 2¢(8),Nr SE(3) ate constant. For a physical interpretation of Ai in terms of twists, see for example Paden and Sastry [6.. Ni is the position/orientaion of frame F with respect to frae Oat q = 0. he velocity in frame i-fixed coordinates of ink és given by {OPE APN where: i Pas TI ow) ‘To minimize the number of subscripts, we will fre- quently make use of the notation Adp,, = Ady. It follows that: Vou = Adycs(S Ada Avés) © 4.1 Lagrange’s Equations "The kinetic energy 7" of the kinematic chain is a sum cover the kinetic energies of the individual links, T Dhar Za, where Ts = (Va, Ve T, = H(te(VaMVE) + te('Vas"VE)) (1) 1Mé, J" ave defined as M and J in the above ection for the mame and inertia properties of ink f. In order 10 write the Kinetic energy in term ofthe joint velocities, Eqs. 6 and 7 ate combined T=YO (Ad An, Adin Aine where (neh np ‘The coefficients gi; of the quadratic form: T = Lis sipdeds are simply given by: 05 = (Ads Ais Ady Ay)p (8) ons) We now consider in thi framework the equations of motion fora kinemaie chain where only kinetic en tray contbute tothe Lagrangian, Trajectories ofthe tbechaninm may then be apcited With geodetson 8 ‘anid: When Kinetic energy given by the quadratic form: 4gy(abedy the Coils tern for the Eee tion of motion (ie. 2A — 2 )is given by gpa 4 tp 4 3H + Et Bits ‘The Christoffel symbols Tis take the 1 ax(isa) Mijas The fy ate aymmet ae( jm ns Proposition form: Tiga = Dpomaxt Hie in i,j, and form Yn rmin(i,j), HlUAdya Au, Ady Ai] Ade Aap + (haga An, Ady Ai Ady Ay + {(Adpn An, Adpn An} Ade At}p Proof; Thi fact canbe directly shown by repeated application of the identity @ Fe Mae Ai = [hay Aj Ada A] for j < k

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