Dynamics of open chain

Dynamics of open chain

• Introduction
• Classification
• Formulation methods
• Euler – Lagrange method
Dynamics of Manipulator
• Kinematics of a robot manipulator deals with the relation between
position and orientation of the end effector and the joint variable of
the manipulator without considering the mass of the links or the
forces/torques acting on the manipulator.

• Dynamics of a robot deals with the relation between position,

velocity and acceleration of the robot’s joints along with the
force/torque exerted at each joint to cause the motion.
Rigid Body Dynamics
• Inertia changes as the configuration of the robot changes
• Gravity, inertia affects the motors driving the joints

Department of Automation and Robotics

 Robot Dynamics
• Dynamics is the study of systems that undergo changes of state as time
evolves.
• In mechanical systems such as robots, the change of states involves
motion.
• In other words, dynamics is the science of motion. It describes why
and how a motion occurs when forces and moments are applied on
massive bodies.
• The motion can be considered as evolution of the position,
orientation, and their time derivatives.
• In robotics, the dynamic equation of motion for manipulators is
utilized to set up the fundamental equations for control.
 Equation of motion
• The way in which the motion of the robotic system arises from
torque/forces applied by the actuators, or from external forces/moments
applied to the system.

• Derivation of the equations of motion for the system is the main step in
dynamic analysis of the system, since equations of motion are essential
in the design, analysis, and control of the system.
Classification
Inverse Dynamics

qi

𝑞𝑖ሶ τi
Inverse Dynamics
𝑞ሷ 𝑖 Fi

Department of Automation and Robotics

Forward Dynamics

qi
τi
Forward 𝑞𝑖ሶ
Fi Dynamics
𝑞ሷ 𝑖

Department of Automation and Robotics

Classification
• Forward Dynamics: For a given, input vector tau and the known
states q, q ̇, find the resultant motion of the manipulator, in other
words, find, 𝑞ሷ
Simply,

• It is the problem of simulating or analysing the manipulator.

Classification
• Inverse Dynamics: For a given, trajectory vectors q, q ̇, 𝑞ሷ find the
required input vector tau,
Simply,
• It is the problem of controlling the manipulator.
Formulation Methods
• Two popular approaches to obtain equations of
motion of a robot are:
• Energy based approach: Lagrange – Euler. Simple,
systematic and symmetric
• Momentum/force approach: Newton – Euler. Efficient,
derivation is simple but messy, involves vector cross
product. Allow real time control
Euler – Lagrange or Lagrangian formulation method

• Since we are considering the system as a rigid body system, the Lagrangian
can be defined as the difference between the kinematic energy and the
potential energy (it is scalar quantity).
• Based on differentiation of Energy terms w.r.t. system’s variables and time.

• Mathematically,
L = K.E. – P.E.
Where, K.E. is the kinetic energy and P.E. is the potential energy of the
system.
• Then we have following generalized second order ordinary
differential equations for both linear and rotational motions:
1 – DoF robot arm
Example 2: One degree of freedom (Uniformly
Distributed mass)
Lagrangian Formulation a Planar 2R Serial Manipulator
– Point Mass
Derivatives of Lagrangian are:
Similarly,
Writing equations in matrix form:
So we can write in generalized form as:
URDF
• Unified Robotics Description Format, URDF, is an XML specification
used in academia and industry to model multibody systems such as
robotic manipulator arms.
• URDF is especially popular with users of Robotics Operating
System, ROS.
URDF Elements and Attributes

• Like other types of XML files, URDF files comprise various XML
elements, such as <robot>, <link>, <joint>, nested in hierarchical
structures known as XML trees
Child elements, such as <link> and <joint> under <robot>, can in turn have child elements of their own.
XML Hierarchies and Kinematic Trees
RoboAnalyzer - Activity
KUKA ROBOT