EL

WEEK 5: ROBOTICS

PT PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

1
 EL
Topic 4: Robot Dynamics

PT PROF. (DR.) DILIP KUMAR PRATIHAR

MECHANIAL ENGINEERING DEPARTMENT, IIT KHARAGPUR

2
 EL
Inverse Dynamics

PT
3
 EL
Forward Dynamics

PT
4
 Robot Dynamics

EL
 To determine joint torques/forces
 Robotic joint torque consists of inertia,
centrifugal and Coriolis and gravity
terms

Inertia Term

PT
Depends on mass distribution of the links
and it is expressed in terms of moment
of inertia tensor

5
Let,
𝒊𝒊
= position of a fixed point lying on 𝒊𝒊-th rigid link expressed

EL
�
𝒊𝒊𝒓𝒓
in its own coordinate system
xi 
y 
=  i
 zi 
 

where
PT
1
The same point can be expressed in base coordinate system as follows:

0
i
𝟎𝟎
�
𝒊𝒊𝒓𝒓 = 𝟎𝟎𝒊𝒊𝑻𝑻 𝒊𝒊𝒊𝒊𝒓𝒓�

T = 01T 21T 23T .........i −1i T

6
Inertia Tensor of 𝒊𝒊-th link

EL
𝑖𝑖 𝑖𝑖 𝑇𝑇 ′
𝑱𝑱𝒊𝒊 = � 𝑖𝑖𝒓𝒓� 𝑖𝑖𝒓𝒓� 𝒅𝒅𝒅𝒅

 x i2dm
∫ ∫ x y dm
i i ∫ x z dm
i i ∫ x dm
i

=  ∫ x i y i dm ∫ y dm ∫ y z dm ∫ y dm
2
i i i i


PT  ∫ x i z i dm ∫ y z dm ∫ z dm ∫ z dm 
2
i i i i
 x dm 
∫ i ∫ y dm
i ∫ z dm
i ∫ 
dm

7
Various Cases
Case 1: Link with Rectangular Cross-section

EL
PT
8
Moment of Inertia (positive value)

EL
Differential mass 𝒅𝒅𝒅𝒅 = 𝝆𝝆𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅
b/2 0 a/2

∫ ∫ ∫ (y )
+ z 2 ρdxdydz
2
I XX =
−b / 2 − l − a / 2

l b2  2
= m + 
 3 12 
I YY =

= m
PT
b/2 0 a /2

∫ ∫ ∫ (x
− b / 2 −l − a / 2

a
+
b2 
 12 12 

2
2
)
+ z 2 ρdxdydz

9
 b/2 0 a /2

∫ ∫ ∫ (x )
2
I zz = + y 2 ρdxdydz

EL
− b / 2 −l − a / 2

 l2 a2 
= m + 
 3 12 
Product of Inertia (positive/negative/zero)

PT
b/2 0 a/2
I XY = ∫ ∫ ∫ xyρdxdydz = 0
− b / 2 −l − a / 2
b/2 0 a /2
I YZ = ∫ ∫ ∫ yzρdxdydz = 0
− b / 2 −l − a / 2

10
 b/2 0 a/2
I ZX = ∫ ∫ ∫ zxρdxdydz = 0

EL
− b / 2 −l − a / 2

b/2 0 a/2

∫ xdm = ∫ ∫ ∫ xρdxdydz = 0
− b / 2 −l − a / 2

l
∫ ydm = −m 2 = m yi
∫ zdm = 0
Mass center = PT ( x ,y ,z )
i

= (0, -l/2,0)
i i

11
 ∫ dm = m

EL
Inertia tensor, 𝑱𝑱𝒊𝒊 can be written as

 − I XX + I YY + I ZZ 
 I XY I ZX mi x i 
2
 I XX − I YY + I ZZ 
 I XY I YZ mi yi 
Ji = 




PT
I ZX
mi x i
2
I YZ
mi yi
I XX + I YY − I ZZ
2
mi zi
mi zi 
m i 



12
  ma 2  For a slender link ,
0 0 0  (𝒍𝒍 >> 𝒂𝒂 and 𝒍𝒍 >> 𝒃𝒃)

EL

 12 
 0 ml 2 ml 
0 − 0 0 0 0 
= 3 2   ml 2 ml 
  0 −
 0 0
mb 2
0  0 3 2 
 12  =
 0 ml
m  0 0 0 0 


PT
−
2
0
 0 −

ml
2
0 m 


13
Case 2: Robotic link of Circular Cross-section

EL
PT
14
Let us consider a link of length 𝒍𝒍 having circular cross-section
of radius 𝒓𝒓

EL
𝒚𝒚 = 𝒓𝒓 sin𝜽𝜽
𝒛𝒛 = 𝒓𝒓 cos 𝜽𝜽

Volume of small element 𝒅𝒅𝒅𝒅 = 𝒓𝒓 𝒅𝒅𝜽𝜽𝒅𝒅𝒅𝒅𝒅𝒅𝒅𝒅

Mass of small element 𝒅𝒅𝒅𝒅 = 𝝆𝝆𝒅𝒅𝒅𝒅, where 𝝆𝝆 = density

V PT
Moment of Inertia

I XX = ∫ (y 2 + z 2 )dm =
0 r 2π

∫∫
−l 0
∫0
2
r ρrdθdrdx =
1
2
mr 2

15
 ∫ (x + z 2 )dm
2
I YY =

EL
V
0 r 2π

∫ ∫ ∫ (x )
2
= + r 2 cos 2 θ ρrdθdrdx
−l 0 0

PT
2
ml mr 2
= +
3 4

16
I ZZ = ∫ (x 2 + y 2 )dm

EL
V

0 r 2π
( )
= ∫ ∫ ∫ x 2 + r 2 sin 2 θ ρrdθdrdx
−l 0 0

PT
=
ml 2 mr 2
3
+
4

17
Product of Inertia

EL
I XY = ∫ xydm
V
0 r 2π
= ∫ ∫ ∫ xr sin θρrdθdrdx
−l 0 0

=0

PT
Similarly, 𝑰𝑰𝒀𝒀𝒀𝒀 = 𝟎𝟎 ; 𝑰𝑰𝒁𝒁𝒁𝒁 = 𝟎𝟎

18
 0 r 2π

∫ xdm = ∫ ∫ ∫ xρrdθdrdx

EL
V −l 0 0

1
= − ml
2

∫ ydm = 0
V ( )
Mass center = x i , y i , z i = (-l/2, 0, 0)

PT
∫ zdm = 0
∫ dm = m

19
 Inertia Tensor For a slender link (𝒍𝒍 >> 𝒓𝒓)

EL
 ml 2 ml 
 ml
2
ml   3 0 0 −
 0 0 −  2
 3 2   0 0 0 0 
mr 2 Ji =  
 0 0 0 
Ji =  4   0 0 0 0 
   − ml
 0

− ml
 2 PT
0

0
mr 2
4
0
0 

m 


 2
0 0 m 


20
 Determination of Robotic Joint Torques

EL
Lagrange-Euler Formulation
d ∂L ∂L
 − τi ,
=
dt  ∂ qi  ∂ qi
Where 𝒊𝒊 = 𝟏𝟏, 𝟐𝟐, . . . . . , 𝒏𝒏 𝒒𝒒̇ 𝒊𝒊 = first time (𝒕𝒕) derivative of 𝒒𝒒𝒊𝒊
𝒏𝒏 = No. of joints 𝝉𝝉𝒊𝒊 : Generalized torque for a rotary

PT
𝑳𝑳: Lagrangian function
𝑳𝑳 = 𝑲𝑲(𝑲𝑲. 𝑬𝑬) – 𝑷𝑷(𝑷𝑷. 𝑬𝑬)
𝒒𝒒𝒊𝒊 = Generalized coordinates
𝒒𝒒𝒊𝒊 = 𝜽𝜽𝒊𝒊 for a rotary joint
= 𝒅𝒅𝒊𝒊 for a prismatic joint
joint
: Generalized force for a linear
joint

21
Let us consider 𝒊𝒊-th link of a serial manipulator
Position of a fixed point lying on this link

EL
x i 
i
y 
ir =
 i
 zi 
 
1
0
i
0
where iT
PT
0
r= T r
i
i
i

= 01T 21T ...... i −1iT

22
Determination of Kinetic Energy (K) of the Manipulator
Velocity of a particle of link 𝒊𝒊 w.r. to base coordinate system

EL
0
i V=
d
dt
( r) 0
i

d
0
i V=
dt
( 0
i T r ) = T 2T..... i T i r + .......+ 1T 2T..... i T i r + iT i r
i
i
 0
1
1
i −1 i 0 1 i −1  i 0 i

 i ∂ 0 T i

PT = ∑ i i
 j i r , asi r = 0
q
∂0i T
 j=1 ∂q j 
 i i
Let = U ij Therefore, V = ∑ U ij q
0
∂q j i  j i r
∂U  j =1 
ij
Note: U ijk =
∂ qk

23
Kinetic energy of the particle having differential mass 𝒅𝒅𝒅𝒅
1 2
( ) 1  0 0 T| 

EL
2 2
dK i = x i + y i + z i dm = T r  i V i V dm
2 2  
where 𝑻𝑻𝒓𝒓 : Trace of a matrix
T′
1  i i  i  
i
dk i = Tr ∑ U ia q a i r ∑ U ib q b i r   dm
2  a =1  b =1  

PT
1  i i
2  a =1 b =1
1  i i
2  a =1 b =1


i i T|

i i T| 
| 
= Tr ∑ ∑ U ia i r i r U Tib q a q b  dm


= Tr ∑∑ U ia  i rdm i r  U ib q a q b 

T|
 


24
Kinetic energy of 𝒊𝒊-th link
1  i i 
K i = ∫ dk i = Tr ∑ ∑ U ia  ∫ i r i r dm  U Tib q
 i i T|

EL
|
 aq
b
2  a =1 b =1   
1  i i 
= Tr ∑∑ U ia J i U Tib q a q b 
|

2  a =1 b =1 
Where inertia tensor

i =1
i =1 2


PT
a
i

=
′
𝑱𝑱𝒊𝒊 = � 𝑖𝑖𝑖𝑖𝒓𝒓� 𝑖𝑖𝑖𝑖𝒓𝒓� 𝑇𝑇 𝒅𝒅𝒅𝒅

Total K.E. of the serial manipulator having 𝒏𝒏 links

n
1 
1
n

b
i
K = ∑ k i = ∑ Tr ∑ ∑ U ia J i U T q
= 1
ib
|
 q


a b


25
Total K.E. of the serial manipulator having 𝒏𝒏 links

EL
n
1
n
 i
K = ∑ k i = ∑ T ∑ ∑ U J UT q
i
| 
aqb 
r ia i
 
i =1 2  a =1 b =1 
i =1 ib

1 n i i
[ (
K = ∑∑∑ Tr U ia J i U ib q a q b
2 i =1 a =1 b =1
T|
) ]

where
o
PT
Determination of Potential Energy of the manipulator
Potential energy of 𝒊𝒊-th link

(
Pi = − mi g r = −mi g oi Ti r
i
i

g = ( g x , g y , g z , 0)
)

26
Total potential energy of the manipulator
n n

EL
P = ∑ Pi = ∑ − mi goi Ti r
i

i =1 i =1

Now, 𝑳𝑳 = 𝑲𝑲 − 𝑷𝑷
1 n i i 
( T r)
n

( )
i
∑∑∑
2=i 1 =a 1 =b 1 
Tr U ia J iU ib qa qb  + ∑ mi g
T′
 =i 1
o
i i

where
= PT
Using Lagrange-Euler equation, we get
n

c 1 =
n

c 1=

𝒊𝒊 = 𝟏𝟏, 𝟐𝟐, . . . , 𝒏𝒏
d 1
n

∑ Dic qc + ∑∑ hicd qc qd + Ci ,

τi =

27
Inertia term

∑( T) (U )
n

EL
T|
D ic = r JU
jc j ji 𝒊𝒊, 𝒄𝒄 = 𝟏𝟏, 𝟐𝟐, . . . . , 𝒏𝒏
j= max i ,c

Coriolis and centrifugal term

∑( T )(U )
n
T|
h icd = r JU
jcd j ji
𝒊𝒊, 𝒄𝒄, 𝒅𝒅 = 𝟏𝟏, 𝟐𝟐, . . . . , 𝒏𝒏

PT
j= max i ,c ,d

Gravity term

∑( )
n
j 𝒊𝒊 = 𝟏𝟏, 𝟐𝟐, . . . . , 𝒏𝒏
Ci
= −m j gU ji j r
j =i

28
An Example

EL
PT
29
 PT
30

EL
 PT
31

EL
 PT
32

EL
 PT
33

EL
 PT
34

EL
 PT
35

EL
 PT
36

EL
 PT
37

EL
 PT
38

EL
 PT
39

EL
 PT
40

EL
 PT
41

EL
 PT
42

EL
 PT
43

EL
 PT
44

EL
 PT
45

EL
 PT
46

EL
For slender links L >> r

EL
PT
47
 PT
48

EL
Another approach

EL
PT
49
Parallel axis theorem

EL
PT
50
Kinetic energy (first link)

EL
PT
51
 EL
Potential energy (first link)

PT
52
Second link

EL
PT
53
Kinetic energy

EL
PT
54
Potential energy

EL
PT
55
Lagrangian

EL
PT
56
Lagrange-Euler equation (first joint)

EL
PT
57
 PT
58

EL
Second joint

EL
PT
59
 PT
60

EL
For slender links L >> r

EL
PT
61