The Pantograph

by Kevin Bowen and Sushi Suzuki

Introduction
About the Pantograph
The Pantograph is a 2 DOF parallel
mechanism manipulator
The device will be used for haptic,
biomechanic, and teleoperation
research in the MAHI lab
We will derive the forward kinematics
and dynamics, devise a state-space
controller, and program a simulation
to test our theoretical model
Ultimately, this will help us control
the real pantograph upon its
completion

Forward Kinematics
Geometry and Coordinate Setup

Transformation equation:
0

x

y

cos(1 ) cos( 2 )

l
sin(1 ) sin( 2 )

Limitations:

10 1 80
10 2 80

All lengths = l

end effector (P)

link upper right (ur)

link upper left (ul)

elbow 2 (e2)

link lower left (ll)

elbow 1 (e1)

link lower right (lr)

1
origin (0)

Forward Kinematics
The Jacobian and singularities

Jacobian Matrix
0

sin(1 ) sin( 2 )

J P l
cos(1 ) cos( 2 )

The Jacobian is not invertible when its determinant equals 0

det( 0J p ) sin(1 ) cos( 2 ) cos(1 ) sin( 2 ) 0

sin(1 ) cos( 2 ) cos(1 ) sin( 2 )
tan(1 ) tan( 2 )
Singularities occur when

1 2 n

Dynamics
Lagrangian Dynamics

Assumptions: Elbows and pointer are point masses,

links are homogeneous with length l, shoulder is just
cylinder part with mass of whole shoulder
The Energy Equation:

1
1
1
2
2
2
L m p v p me (ve1 ve 2 ) ml (vll2 vlr2 )
2
2
2
1
1
2
2
mu (vul vur ) ( I ZZl I ZZu I ZZs )(ll2 lr2 )
2
2

Dynamics
Joint and link velocities

v l 2 [( sin(1 )1 sin( 2 )2 ) 2 (cos(1 )1 cos( 2 )2 ) 2 ]

0 2
p

v l 212

0 2
e1

v l 222

0 2
e2

l2 2
v 1
4

0 2
lrc

l2 2
v 2
4

0 2
llc

0 2
urc

l 2 [( sin(1 )1 sin( 2 )2 / 2) 2 (cos(1 )1 cos( 2 )2 / 2) 2 ]

0 2
ulc

l 2 [( sin(1 )1 / 2 sin( 2 )2 ) 2 (cos(1 )1 / 2 cos( 2 )2 ) 2 ]

v
v

lr 0 ul 1

ll 0 ur 2

Dynamics
Lagrangian in terms of 1 and 2

1
L Q cos(1 2 )12 R (12 22 )
2
1
5
1
R l (m p me ml mu ) ms (d o2 d i2 ) I mrotor
3
3
8
2

Q l 2 (m p me )

Dynamics
Equations of Motion

d L L

dt i i
R1 Q ( sin(1 2 )22 cos(1 2 )2 ) 1
R Q( sin( ) 2 cos( ) )
2

R
Q cos(1 2 )

R
Q cos(1 2 )

Q sin(1 2 )

22 1

2
1 2

Control
Partitioned Controller I

B (,
)
Equations of motion:
M ()
R
Q cos(1 2 )

M ()
R
Q cos(1 2 )

, ) Q sin( ) 2
B (
1
2
2

Control Law:

'

)
M (), B(,

K E K E
'
d
v
p

E d

Control
Partitioned Controller II

System simplifies to:

B (,
) M ()
K E K E B (,
)
M ()
d
v
p
E K v E K p E 0

kv1
K v
0

kv 2

k p1 0

K p

0
k
p
2

The controller will act in a critically damped when:

k vi 2 k pi ; i 1,2

Control
Block Diagram

'

Kv

System

Kp

M ()

)
B (,

Simulation
Description

Programmed using C++ and OpenGL (for graphics)

The user can modify control parameters (kv1 = kv2,
kp1 = kp2) and the destination location (only position
control) of the pantograph.
The user also can poke at the circular end effector
using the IE 2000 joystick (with force feedback) and
act as a disturbance force to the system.
The destination locations are bounded by physical
constraints (10 < 1 < 80, 10 < 2 < 80) but the
simulation itself is not. Therefore, unrealistic
configuration of the pantograph can be reached.
Approximations:R 5.37 gm 2 , Q 1.53 gm 2 , l 23cm

Simulation
Screen Capture

Conclusion
Where to go from here

We were able to derive the forward kinematics and

dynamic characteristics of the pantograph using its
geometric properties
The simulation of our theoretical model shows that a
partitioned controller should be appropriate for
position control of the pantograph
Upon completion of the pantograph we will be able to
apply our theoretical model and determine its
accuracy
Future goals: study of human arm dynamics,
teleoperation, high fidelity haptic feedback, and
hopefully virtual air hockey.

References
The books and people that helped us

Craig, J.J. Introduction to Robotics: mechanics and

control. 2nd ed. Addison-Wesley Publishing
Company, 1989.
Woo, M., Neider, J., Davis, T., and Shreiner, D.
OpenGL Programming Guide. 3rd ed. AddisonWesley Publishing Company, 1999.