Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Manipulator Dynamics
Chapter Four

Yeshitila H.
Manipulator Dynamics

• Our study of manipulators so far has focused on kinematic

considerations only. We have studied static positions, static forces,
and velocities; but we have never considered the forces required to
cause motion. In this chapter, we consider the equations of motion
for a manipulator—the way in which motion of the manipulator
from torques applied by the actuators or from external forces
applied to the manipulator.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

There are two problems related to the dynamics of a
manipulator
1. we are given a trajectory point, ,
and , and we wish to find the
required vector of joint torques, .
This formulation of dynamics is
useful for the problem of
controlling the manipulator
2. given a torque vector, , calculate
the resulting motion of the
manipulator,and. This is useful
for simulating the manipulator.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Mass Distribution

• In systems with a single degree of freedom, we often talk about the

mass of a rigid body. In the case of rotational motion about a single
axis, the notion of the moment of inertia is a familiar one. For a rigid
body that is free to move in three dimensions, there are infinitely many
possible rotation axis. In the case of rotation about an arbitrary axis, we
need a complete way of characterizing the mass distribution of a rigid
body. Here, we introduce the inertia tensor, which, for our purposes,
can be thought of as a generalization of the scalar moment of inertia of
an object.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Hawassa University, Institute of Technology School of Electrical and Computer Engineering
Example

• Find the inertia tensor for the rectangular body

of uniform density with respect to the
coordinate system shown in the figure.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

 Derivation of Robot dynamics

Method 1: Newton-Euler Equation

• We will consider each link of a
manipulator as a rigid body. If we know
the location of the center of mass and the
inertia tensor of the link, then its mass
distribution is completely characterized.
• Newton's equation, along with its
rotational analog, Euler's equation,
describes how forces, inertias, and
accelerations relate.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

computing the torques that correspond to a given trajectory
of a manipulator.
• We assume we know the position,
velocity, and acceleration of the joints,
(and).
• With this knowledge, and with
knowledge of the kinematics and the
mass-distribution information of the
robot, we can calculate the joint
torques required to cause this motion.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

The Structure of a Manipulator Dynamic Equation

• The general manipulator dynamical torque equation can be given

by

- nxn mass matrix of the manipulator

- nx1 vector of centrifugal and Coriolis term
- nx1 vector of gravity terms
n- is DOF

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Method 2: Lagrangian Method: Energy based approach

• Kinetic energy of the link can be • The Lagrangian dynamic

expressed as:
• The potential energy of the link
can be expressed as:
formulation provides a means of
deriving the equations of motion
from a scalar function called the
Lagrangian

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Lagrangian Method: Energy based approach

• Lagrangian is defined as the • In the case of manipulator this

difference between the kinetic and equation becomes:
potential energy of a mechanical
system • The total kinetic energy of the
manipulator can also be given by:
• The equation of motion for the
manipulator are then given by:

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

 Lagrangian Method: Energy based approach

[ ]
• Taking the lagrangian of the above equation
˙ 𝑇 𝜕 𝑀 ( 𝜃)
𝜃 ˙
𝜃
𝜕 𝜃1

2[
1 ˙ 𝑇 𝜕 𝑀 ( 𝜃) ˙
𝜃
𝜕𝜃 ]
𝜃  =
1
2
.
.
 

˙ 𝑇 𝜕 𝑀 ( 𝜃)
𝜃 ˙
𝜃
𝜕𝜃𝑛

τ =M ( θ ) θ̈+V ( θ , θ̇ ) +G ( θ )

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Gravity vector:

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

 For the following RP manipulator find
its dynamics: assume the links have the
following inertia tensor

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

 1 2 ˙ 2 1 ˙2
𝑘1= 𝑚1 𝑙1 𝜃 1+ 𝐼 𝑧𝑧 1 𝜃 1
2 2

[ ]
2 𝑚 𝑑 ˙ 𝑑
𝜃 ˙
˙ )=
V (𝜃 , 𝜃 2 2 1 2
𝑚2 𝑑 2 𝜃˙2
1
Hawassa University, Institute of Technology School of Electrical and Computer Engineering
Hawassa University, Institute of Technology School of Electrical and Computer Engineering
Trajectory Generation

• trajectory refers to a time history of position, velocity, and acceleration for each
degree of freedom.
• Sometimes it is necessary to specify the motion in much more detail than
by simply stating the desired final configuration. One way to include more detail
in a path description is to give a sequence of desired via points (intermediate
points between the initial and final positions).

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Trajectory Generation

Trajectory planning is a subset of the overall problem that is navigation or motion

planning. The typical hierarchy of motion planning is as follows:
• Task planning – Designing a set of high-level goals, such as “go pick up the object
in front of you”.
• Path planning – Generating a feasible path from a start point to a goal point. A
path usually consists of a set of connected waypoints.
• Trajectory planning – Generating a time schedule for how to follow a path given
constraints such as position, velocity, and acceleration.
• Trajectory following – Once the entire trajectory is planned, there needs to be a
control system that can execute the trajectory in a sufficiently accurate manner.

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Cartesian space vs Joint space Trajectory generation

Hawassa University, Institute of Technology School of Electrical and Computer Engineering

Cubic Polynomial for a path with a through points

• As in the case of a single goal point, each via

point is usually specified in terms of a desired
position and orientation of the tool frame
relative to the station frame. Each of these via
points is "converted" into a set of desired joint
angles by application of the inverse
kinematics. We then consider the problem of
computing cubics that connect the via-point
values for each joint together in a smooth
way.
• If desired velocities of the joints at the via
points are known, then we can construct cubic
polynomials.
Hawassa University, Institute of Technology School of Electrical and Computer Engineering
Hawassa University, Institute of Technology School of Electrical and Computer Engineering