Newton’s Law

rate of change of the linear

momentum is equal to the
Linear momentum applied force

1
 Angular Momentum

take the moment respect to o

=0

applied moment
angular momentum
2
 Linear & Angular Momentum

rate of change of the linear

momentum is equal to the
Linear momentum applied force

rate of change of the angular

Angular momentum momentum is equal to the
applied moment

3
 Angular Momentum
 Rigid Body -Rotational Motion
Angular Momentum

Inertial Tensor: I

4
Inertia Tensor

5
Inertia Tensor

6
 Iterative Newton-Euler Equations
• In addition to calculating the forces and torques arising from
link accelerations, we also need to account for how they
affect the neighbouring links as well as the end effectors
interactions with the environment

• Balancing the forces shown in the above figure, we can find the
total force and torque on each link.
7
 Iterative Newton-Euler Equations

take the moment respect to the center of the

mass

8
 Example 6.5 Lagrange Formulation of a
PR Manipulator
Known parameters:

Generalized Variables: θ1, d2,

 Generalized Forces: τ1, f2

9
 Example 6.5 Lagrange Formulation of a
PR Manipulator
 By definition, the inertia tensors:

 Joint Velocities and kinetic energy

10
 Example 6.5 Lagrange Formulation of a
PR Manipulator

Kinetic energy
of link i=1 11
 Example 6.5 Lagrange Formulation of a
PR Manipulator
?
^
𝑋2

 Kinetic energy
of link i=2
?
 Total kinetic
energy
12
 Example 6.5 Lagrange Formulation of a
PR Manipulator

 Kinetic energy
of link i
 Total kinetic
energy 13
 Example 6.5 Lagrange Formulation of a
PR Manipulator
 Potential energy of links

 For i=1

 For
i=2
is the maximum extension of joint 2.
 Total potential energy

14
 Example 6.5 Lagrange Formulation of a
PR Manipulator
The partial derivatives of the energy of the manipulator

15
 Example 6.5 Lagrange Formulation of a
PR Manipulator
The partial derivatives of the energy of the manipulator

16
 Example 6.5 Lagrange Formulation of a
PR Manipulator
 The compact matrix form is

17
 Example 6.5 Lagrange Formulation of a PR
Manipulator
 Total kinetic energy

M=?

18
Lagrange Formulation –2R Robot Example

Geometric Approach
---direct projection

19
 Lagrange Formulation –2R Robot Example

Step 4:
 Kinetic Energy:

20
 Lagrange Formulation –2R Robot Example
 To find the velocity of the center of mass of link2, first consider its
position given by

 The derivative

For i=2:

21
Lagrange Formulation –2R Robot Example
 Potential Energy:

 For i=1

 For i=2

 Lagrangian:

22
Lagrange Formulation –2R Robot Example
 step 5 Solving

 or,

 or in the component form as

23
Lagrange Formulation –2R Robot Example

24
 Lagrange Formulation –2R Robot Example
0
❑ 𝑃 𝑔1=
[−𝑙 𝑠 ]
𝑙1 𝑐 1
𝑙 1 𝑠1
0
𝑃 𝑔 2=
[
𝑙 1 𝑐 1+𝑙 2 𝑐 12
]
[ ]
❑
˙𝑃 = 𝑙1 𝑠 1+𝑙 2 𝑠12
𝜃˙
0 1 1

[ ]
g ❑ 𝑔1
− 𝑙
𝑙1 𝑐1𝑠 𝜃˙ − 𝑙 𝑠 ( 𝜃˙ + 𝜃˙ )
1 ˙
𝑃 = 1 1 10 2 12 1 2
2 ˙❑2 𝑔 2
𝑘1= 𝑚1 𝑙1 𝜃 1 𝑙 𝑐 𝜃˙ +𝑙 𝑐 ( 𝜃˙ + 𝜃˙ )
2 1 1 1 2 12 1 2
1
𝑘 2= 𝑚 ¿
2 2
𝑢1=𝑚 1 𝑔 𝑙 1 𝑠1 𝑢2=𝑚2 𝑔(𝑙 1 𝑠1 +𝑙2 𝑠 12)

2¨ ¨ ¨ ¨ ¨ 2 ˙
𝜏1=𝑚 𝑙 ( 𝜃 +𝜃 ¨)+𝑚2 𝑙1 𝑙2 𝑐¨ 2(2¨𝜃1+𝜃 2)+(𝑚 +𝑚˙ )𝑙 𝜃 −𝑚 𝑙 𝑙 𝑠 𝜃
22 1 2 1 22 1 1
2
212 2 2
2
𝜏 2=𝑚 2 𝑙1 𝑙2 𝑐 2 𝜃1 +𝑚 𝑙 ( 𝜃1+ 𝜃 2)+𝑚2 𝑙 1 𝑙 2 𝑠 2 𝜃1 +𝑚2 𝑙 2 𝑔𝑐12
2 2
25
Appendix: Propagation of Acceleration - Linear
• Toderive a general formula for the linear acceleration, we will
differentiate the linear velocity. However, instead of differentiating
the recursive equation like we did for the angular acceleration
derivation, we’ll begin at a slightly earlier step.
Recall the three-part expression:

• Re-assigning the link frames

(0 ↔ A, i ↔ B, and i+1 ↔ Q),
results in:
26
 Propagation of Acceleration - Linear

• Differentiating using the chain rule gives:

27
 Propagation of Acceleration - Linear

• Combining the two like terms, we find:

• Pre-multiplying both sides of the equation by gives:

• Expanding terms gives

28
 Propagation of Acceleration - Linear

• Simplifying the previous equation using

=I

• we have
29
 Propagation of Acceleration - Linear

• This equation can be written equivalently as:

General
form

• If joint i+1 is revolute joint, the linear terms are zero and the
above equation simplifies to:
Revolute Joint
30