Lec - 5.2 - Robotic Model Analysis

Course: ROB 401
Course Title: : Robotics Systems Design

Course sub-title: Robotics Model Analysis
Department of Robotics and Mechatronics
Engineering (RME)
University of Dhaka
Dr. Shamim Ahmed Deowan

E-mail: sadeowan@gmail.com
Kinematic Model
Kinematic models are widely used in robotics to describe the

mechanism of a robot. For example, the kinematic model of a
manipulation robot is typically specified by the position of its
joints, and the size and orientation of its links.
Kinematic models are usually derived analytically by a robot

engineer and thus rely heavily on prior knowledge about the
geometry of the robot.
Kinematic Model
We learn models for the individual joints of a robot using

Gaussian process regression and develop an efficient algorithm to
estimate the full kinematic structure of the robot.
In experiments carried out in simulation and on real robots, we

demonstrate that our approach enables a manipulation robot to
learn its kinematic model from scratch and to maintain it over
extended periods of time.
Furthermore, we show that a robot using our approach can

accurately predict and control the pose of its end effector even in
the presence of hardware failures.
Kinematic Model
Fig.1.: Schematic overview of kinematic model of a robotic system

Kinematic Model
In Fig.1, The robot sends random “motor babbling” commands to

its joints, observes the resulting pose, and estimates the
kinematic model of itself from this sequence of observations.
In each iteration, the robot learns Gaussian process models for

the individual joints and searches for the kinematic structure that
best explains the observed motion.
The robot can use the learned model to predict and control the
pose of its end effector.
Kinematic Models for Manipulation Robots
The kinematic model of a manipulation robot describes the

relationship between its configuration and its body posture, i.e.,
the relationship between the joint angles and the poses of the
body parts in 3D space. Fig.2 shows an example of a simple
manipulation robot with two degrees-of-freedom (DOF).
Fig.2: (a) Simple 2-DOF manipulator consisting of 5 body parts. (b) The
kinematic model of this robot represented as a Bayesian network
Dynamic Modeling of a 2 DOF Manipulator
Introduction
In this section, an introduction to the dynamic model is given,

followed by a brief survey on the different issues for formulation
of the mathematical model.
Furthermore, the some assumptions have also been made and

the mathematical model for the dynamic behavior of the
manipulator has been developed.
Introduction
The mathematical equations, often referred to as manipulator
dynamics, are a set of equations of motion (EOM) that describe
the dynamic response of the manipulator to input actuator
torques.
The proposed model uses this approximated dynamic model to

position the robot arm in the pre-defined path.
Importance of a Dynamic Model

During the work cycle, a manipulator must accelerate, move at
constant speed, and decelerate. This time-varying position and
orientation of the manipulator is termed as its dynamic
behaviour.
Time varying torque is applied at the joints to balance the

internal and external forces.

The internal forces are caused by motion (velocity and
acceleration) of links. Inertial, coriolis and frictional forces are
some of the internal forces.
The external forces are those forces exerted by the environment

and include the load and gravitational forces.

Factories of future need the presence of robots in its operations
and the performance of production systems depends largely on
such robots.
It is essential to study the performance of a robot through widely

used techniques in mathematical modeling. Literature is available
on the analysis of performance of robots using differential
equations.
These equations provide simple analytical solutions without non-

linear differential equations leading to limited constraints.

In addition to the effects of differential angular velocity and the
joint torque the robotic system performance can also be affected
due to the interaction between the joint motion and the angular
motion of the constrained surface.
The performance of a robot arm with respect to control accuracy

and mechanical efficiency is based on the effects of manipulator
gravity.
Assumptions
• This model does not take into account actuators dynamics
(motors and Gear boxes) as well as friction forces.
• Besides, the robot is considered rigid, i.e., without flexibility in
links and in joints.
• The model is simple and adequately represents the
manipulator.
Formulation of the Dynamic Model
The dynamic model of a manipulator is useful for computation of
torque and force required for the execution of a typical work
cycle and gives vital information for the design of links, joints,
drives, and actuators.
The dynamic behaviour of the manipulator provides relationship

between joint actuator torques and motion of links for simulation
and design of control algorithms.
The manipulator control maintains the dynamic response of the
manipulator to obtain the desired performance, which directly
depends on the accuracy of the dynamic model and efficiency of
the control algorithm.
The control problem requires specifying the control strategies to

achieve the desired response and performance. Simulations of
manipulator motion permits testing of control strategies, motion
planning and performance studies without a physical prototype
of the manipulator.
The serial link manipulator represents a complex dynamic system,
which can be modeled systematically using known physical laws
of Lagrangian mechanics or Newtonian mechanics.
Approaches such as Lagrange – Euler (LE) which are energy based

and Newton – Euler (NE) which are force-balance based can be
systematically applied to develop the manipulator EOM.
The resulting EOM are a set of second order, coupled, non-linear

differential equations, consisting of inertia loading and coupling
reaction forces between joints.
Both Lagrange –Euler and Newton-Euler formulation gives the
relationship between the joint and end effector forces torques
and the manipulator joint-link position, velocities, and
accelerations.
These formulations are compared on the basis of their

computational requirements.
The LE formulation has the following characteristics:
• The LE is systematic and describes motion in real physical

terms.
• The equations of motion obtained are analytical and compact
• The matrix vector form of equations (inertia matrix,
centrifugal, and Coriolis force matrix, and gravitational
force vector) are appearing for calculation and control
system design.
• The control problem can be simplified by designing the
structure of the manipulator with minimal joint coupling
that is coefficients may be reduced or eliminated.
Based on the above characteristics, the LE method has been used
for formulating the second order differential equations.
Lagrangian mechanics is 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.
Summation of all external forces for a linear motion Fi is given by,
(1)
Summation of all external torques in a rotational motion Ti is given

by,
(2)
To obtain the equations of motion, it is important to derive

energy equations for the system and then differentiate the
Lagrangian according to Equations (1) and Equation (2).
Fig.1: Robot Manipulator with Two Degrees of Freedom

The dynamics of a simple manipulator is worked out to illustrate
the Lagrange-Euler formulation and to clarify the problems
involved in dynamic modeling.
For the manipulator links 1 and 2, joint variables are θ1 and θ2,
link lengths are l1 and l2 and mass of links are m1 and m2 and
r1and r2 are the distance between the joint and centre of mass of
the link 1 and 2 respectively which is shown in the Fig.1.
The linear and angular velocities are v1, v2,

respectively. In this case, the datum (zero potential
energy) is chosen at the axis of rotation “o”.
Lagrangian (3)
First, the kinetic and potential energies of the system are

calculated.
(4)
(5)
To calculate K2 ,first write the position equation for m2 and
then differentiate it for the velocity of m2.
(6)
(7)
Then the kinetic energy for the second mass is

(8)
and the total kinetic energy is
(9)
The potential energy of the system can be written as
(10)
(11)
(12)
The Lagrangian for the system is
(13)
The derivatives of the Lagrangian are,
(14)
(15)
(16)
From Equation (2), the first equation of motion is
(17)
(18)
Writing these two equations in a matrix form
(19)
Which is of the form,
(20)
where, A(Q) is coupled inertia matrix, is the matrix of

coriolis and centrifugal forces and C(Q) is the gravity matrix. T is
the Input torques applied at various joints.

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Course: ROB 401

Course Title: : Robotics Systems Design

Dr. Shamim Ahmed Deowan

Kinematic models are widely used in robotics to describe the

Kinematic models are usually derived analytically by a robot

We learn models for the individual joints of a robot using

In experiments carried out in simulation and on real robots, we

Furthermore, we show that a robot using our approach can

Fig.1.: Schematic overview of kinematic model of a robotic system

In Fig.1, The robot sends random “motor babbling” commands to

In each iteration, the robot learns Gaussian process models for

The kinematic model of a manipulation robot describes the

In this section, an introduction to the dynamic model is given,

Furthermore, the some assumptions have also been made and

The proposed model uses this approximated dynamic model to

Importance of a Dynamic Model

Time varying torque is applied at the joints to balance the

Importance of a Dynamic Model

The external forces are those forces exerted by the environment

Importance of a Dynamic Model

It is essential to study the performance of a robot through widely

These equations provide simple analytical solutions without non-

Importance of a Dynamic Model

The performance of a robot arm with respect to control accuracy

The dynamic behaviour of the manipulator provides relationship

The control problem requires specifying the control strategies to

Approaches such as Lagrange – Euler (LE) which are energy based

The resulting EOM are a set of second order, coupled, non-linear

These formulations are compared on the basis of their

• The LE is systematic and describes motion in real physical

Lagrangian mechanics is based on the differentiation of the

As the complexity of the system increases, the Lagrangian

The Lagrangian mechanics is based on two generalized equations.

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

To obtain the equations of motion, it is important to derive

Fig.1: Robot Manipulator with Two Degrees of Freedom

The linear and angular velocities are v1, v2,

First, the kinetic and potential energies of the system are

Then the kinetic energy for the second mass is

and the total kinetic energy is

The potential energy of the system can be written as

The Lagrangian for the system is

From Equation (2), the first equation of motion is

Writing these two equations in a matrix form

Which is of the form,

where, A(Q) is coupled inertia matrix, is the matrix of

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