Ghulam Ishaq Khan Institute of Engineering Sciences and

Technology, Topi, Pakistan

ME452
Robotics

Lecture No: 25

Instructor
Dr. Abid Imran
------Faculty of Mechanical Engineering------ Fall Semester 2023
1
 Preview of Dynamics

• Particle : No area, No volume

• Planar rigid-body : 3DOF (2T, 1R)
• Spatial rigid-body : 6DOF (3T, 3R)
• Flexible body

Motion 2D 3D

Translation F  ma F  ma

Rotation    I     I      I  

2
 Mass Moment of Inertia
dI y  dI z  dm  x 2
• Slender bar
  dVx 2   r 2 x 2 dx
x l
2

dx Iy  Iz    r 2 x 2 dx
l
2

dm   r 2 dx 1 1
  r l  ml 2
2 3

12 12
 
0 0 0 
 
ml 2
C
I  0 0 
 12 
 
0 ml 2 
0
 12 
3
 Mass Moment of Inertia
dI y  dI z  dm  x 2
• Slender bar   dVx   r x dx
2 2 2

l
I y  I z    r 2 x 2 dx
0

1 1 2
  r l  ml
2 3

 
3 3
0 0 0 
 
ml 2
C
I  0 0 
 3 
 
0 ml 2 
0
 3 
4
 Parallel axis theorem:
• Let m be the mass of an object and let d be the distance from an axis through the
object’s center of mass to a new axis. Then we have
I parallel axis  I com  md 2

 
0 0 0 
   
ml 2
C
I  0 0  0 0 0 
 12   
  ml 2
0 0
ml 2  I  0 0 
 12   3 
2  
1 2 𝑙 1 2 0 ml 2 
𝐼 𝑦 =𝐼 𝑧 = 𝑚 𝑙 +𝑚 = 𝑚 𝑙 0
 3 
12 4 3
5
 Mass Moment of Inertia
• Disk dI z  dm  r 2
y dc dm   dV    tdcdr
   trd dr
dr d
r dI z   tr 3d dr
R 
x Integration
R 2

Iz     tr d dr 
3
 tR 4
z 0 0
2
1
 mR 2 m   t R 2
2
6
 Mass Moment of Inertia
• Disk dI x  dm  (r sin  ) 2

y dm   dV    tdcdr
   trd dr
dr
r d   tr 3 sin 2  d dr
R 
x R 2
Ix     tr 3 sin 2  d dr
r sin  0 0

z Similarly, by Solving the integrals

1
I x  I y  mR 2
4
7
 Mass Moment of Inertia
• Rectangular prism • Thin disk
1
I x  mR 2
Ix 
1
m b 2  c 2  2
12 1
1
I y  m a2  c2 
I y  I z  mR 2
12 4
1
I z  m a 2  b2 
12

8
 Mass Moment of Inertia
• Circular cylinder • Circular cone

1 3
I x  ma 2 I x  ma 2
2 10
1 3 1 
I y  I z  m 3a 2  L2  I y  I y  m  a 2  h2 
12 5 4 

9
 Mass Moment of Inertia
• Moment of inertia
• Slender rod • Thin rectangular plate
1
I y  I z  mL2 1
12 I x  m b 2  c 2 
12
1 1
I y  mc , I z  mb 2
2

12 12

• Sphere

2
I x  I y  I z  ma 2
5

10
 Mass Moment of Inertia
• Mass distribution
mass moment of inertia
I xx   ( y 2  z 2 )  dv
V

I yy   ( x 2  z 2 )  dv
V

I zz   ( x 2  y 2 )  dv
V

mass product of inertia

 I xx  I xy  I xz  I xy   xy  dv
V
 
I    I xy  I yz  I yz   yz  dv
A
I yy
V
  I xz  I yz I zz  I zx   zx  dv
V

Inertia tensor
11
 Mass Moment of Inertia

• Angular momentum

 Ix  I xy  I xz  I  0 0 
   x 
[ I ]    I yx Iy  I yz  [ I ]   0 I y 0 
  I zx  I zy I z   
 0 0 I z 
 
Symmetric, positive definite Principal moment of inertia

12
 Mass Moment of Inertia
• Example h l w
I xx   ( y 2  z 2 ) dxdydz
0 0 0
h l
   (y 2
 z 2 ) w dydz
0 0

m 2
 (l  h 2 ), m   lwh
3

h l w
I xy    xy dxdydz
0 0 0

h lw2 m
 0 2 y dydz  4 wl
0

13
 Mass Moment of Inertia
• Example h w l
I yy     (x 2  z 2 ) dydxdz
0 0 0
h w
  (x 2  z 2 )l  dxdz
0 0

m 2 2
 (w  h ), m   lwh
3
h l w
I yz    yz dxdydz
0 0 0

h l h l2
  yzw dydz   yzw dz
0 0 0 2
m
 hl
4
14
 Mass Moment of Inertia
• Inertia Tensor
m 2 m 2 m 2
I xx  (l  h ), I yy  ( w  h ), I zz  (l  w2 )
2 2

3 3 3
m m m
I xy  wl , I xz  hw, I yz  hl
4 4 4

m 2 m m 
3 (l  h 2
)  wl  hw 
 I xx  I xy  I xz  4 4
 
  A m
I    wl
m 2
(w  h2 )
m
 hl 
A
I    I xy I yy  I yz   4 3 4 
  I xz  
 I yz I zz  m
  hw
m
 hl
m 2
(l  w2 ) 
 4 4 3 

15
 Mass Moment of Inertia
• Parallel axis theorem  I xx  I xy  I xz 
 
A
I    I xy I yy  I yz 
A
I zz  C I zz  m( xc2  yc2 )
  I xz  I yz I zz 
A
I xy  C I xy  mxc yc

A
I  C I  m[ PcT Pc I 3  Pc PcT ]

 I xx 0 0
0 I yy 0
 
 0 0 I zz 

16
 Parallel axis theorem:
m 2 m m 
(l  h 2
)  wl  hw
3 4 4   xc   w
  y   1  l  The mass center position for
m m 2 m
A
I    wl (w  h2 )  hl ,  c 2  the cube
 4 3 4 
   zc   h 
m m m 2
  hw  hl (l  w ) 
2

 4 4 3 

A
I zz  C I zz  m( xc2  yc2 )
Applying the parallel axis theorem
C
I zz  I zz  m( x  y )
A 2
c
2
c

After simplification
2 2
m 2 w l
c
I zz  (l  w )  m(  )
2

3 4 4
m 2
 (l  w2 )
12
17
 Parallel axis theorem:
A
I zz  C I zz  m( xc2  yc2 ) m 2
(l  h 2
) 
m
wl 
m
hw

Applying the parallel axis theorem 3 4 4 
C
I zz  I zz  m( x  y )
A 2
c
2
c

m m 2 m

A
I    wl (w  h2 )  hl 
 4 3 4 
 After simplification  m m m 2 
  hw  hl (l  w ) 
2
2 2
m w l m  4 4 3 
c
I zz  (l 2  w2 )  m(  )  (l 2  w2 )
3 4 4 12

 Similarly, for

m 2 2 m 2
C
I xx  (h  l ), C
I yy  ( w  h 2 ),
12 12

18
 Parallel axis theorem:
A
I xy  C I xy  m( xc yc ), Applying the parallel axis theorem to off diagonal terms
C
I xy  A I xy  ( xc yc ),

m 2 m m 
 3 (l  h )  
2
wl hw 
4 4
 
m w l m m 2 m
C
I xy   wl  m( . )  0
A
I    wl (w  h2 )  hl 
 4 3 4 
4 2 2  m m m 2 
  hw  hl (l  w ) 
2

 4 4 3 
C
I yz  C I zx  0

All the off-diagonal terms will be zero

19
 Parallel axis theorem:
• Diagonal terms

m 2 2 m 2 m 2
 2

m

m 
C
I xx  (h  l ), C
I yy  ( w  h 2 ), 3 (l h )
4
wl
4
hw 
12 12 
m m 2 m

A
I    wl (w  h2 )  hl 
m 2  4 3 4 
C
I zz  (l  w2 ),  
12 m m m 2
  hw  hl (l  w ) 
2

 4 4 3 

• Off diagonal terms

m 2 2 
C
I xy  0  I xx 0 0 12 ( h  l ) 0 0 
I  0 0
C  
I yy 
m 
  
0 ( w2  h 2 ) 0

C
I yz  C I zx  0 12
 0 0 I zz   m 2 
 0 0 (l  w ) 
2

 12 

20
 Parallel axis theorem:

m 2 m m 
3 (l  h 2
)  wl  hw 
4 4
 
m m 2 m
A
I    wl (w  h2 )  hl 
 4 3 4 
 m m m 2 
  hw  hl (l  w ) 
2

 4 4 3 

^
𝑍

m 2 2 
^ 12 ( h  l ) 0 0 
𝑌
 
 m 
C
I 
0
12
( w2  h 2 ) 0

 m 2 
^
𝑋  0 0 (l  w ) 
2

 12 

21
 Closed-form Dynamic Model
• Lagrangian formulation
• Newton-Euler : force balance approach
• Lagrangian : energy-based approach
• Kinetic energy

1 1 i T Ci i
For i link :
th ki  mi vCi vCi  i I i i
T

2 2
n
Total kinetic energy : k   ki
i 1
1 T
kinetic energy for manipulator: k  ,     M    

2

22
 Closed-form Dynamic Model
• Potential energy

For ith link : ui   mi 0 g T 0 PCi

• Total potential energy :
n
u   ui  u   
i 1

• Motion equation for the manipulator

L  , 
   k  ,    u   

d L L d k k u
    

dt     
dt 
23
 Closed-form Dynamic Model
• Example for Lagrangian formulation
• RP manipulator
 I xx1 0 0 
C1
I1   0 I yy1 0 
 
 0 0 I zz1 

 I xx 2 0 0 
C2
I2   0 I yy 2 0 
 
 0 0 I zz 2 

24