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    3D Dynamics: Presented By: Amir Patel PHD (Mechatronics) Cape Town

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    Daniel Jones
    1. The lecture covered 3D dynamics including kinetic energy, potential energy, moment of inertia, angular velocity, and rotation matrices. 2. An example of deriving the kinetic energy of a two-axis gimbal was presented. 3. Deriving the angular velocity and rotation matrices of an acrobot system was demonstrated as another example.

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    3D Dynamics: Presented By: Amir Patel PHD (Mechatronics) Cape Town

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    Daniel Jones
    23 views23 pages
    1. The lecture covered 3D dynamics including kinetic energy, potential energy, moment of inertia, angular velocity, and rotation matrices. 2. An example of deriving the kinetic energy of a two-axis gimbal was presented. 3. Deriving the angular velocity and rotation matrices of an acrobot system was demonstrated as another example.

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    1. The lecture covered 3D dynamics including kinetic energy, potential energy, moment of inertia, angular velocity, and rotation matrices. 2. An example of deriving the kinetic energy of a two-axis gimbal was presented. 3. Deriving the angular velocity and rotation matrices of an acrobot system was demonstrated as another example.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    23 views23 pages

    3D Dynamics: Presented By: Amir Patel PHD (Mechatronics) Cape Town

    Uploaded by

    Daniel Jones
    1. The lecture covered 3D dynamics including kinetic energy, potential energy, moment of inertia, angular velocity, and rotation matrices. 2. An example of deriving the kinetic energy of a two-axis gimbal was presented. 3. Deriving the angular velocity and rotation matrices of an acrobot system was demonstrated as another example.

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    of 23

    Lecture 4:

    3D Dynamics
    27 Feb 2023

    Presented by:
    Amir Patel
    PhD (Mechatronics) Cape Town
    Electrical Engineering Department EEE4119F
    University of Cape Town Mechatronics II
    Overview

    • Kinetic Energy
    • Potential Energy
    ABB Robot Arms
    Mini Cheetah
    Exercise: Two Axis Gimbal

    Rotation order:
    1. Rotation about X z0
    2. Rotation about Y
    y0
    Task x0
    • Derive DCM (𝑹𝟏𝟎 )
    • Derive Euler Rate Matrix φ
    z1
    y1
    x1
    θ
    Exercise: Two Axis Gimbal
    *Assume origin of all axes aligned

    z0
    𝑐𝑜𝑠𝜃 0 −𝑠𝑖𝑛𝜃 1 0 0
    𝑅01 = 0 1 0 0 𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜑 y0
    𝑠𝑖𝑛𝜃 0 𝑐𝑜𝑠𝜃 0 −𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜑 x0
    φ
    𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜑𝑠𝑖𝑛𝜃 −𝑐𝑜𝑠𝜑𝑠𝑖𝑛𝜃 z1
    𝑅01 = 0 𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜑 y1
    𝑠𝑖𝑛𝜃 −𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃 x1
    θ

    DCM
    Exercise: Two Axis Gimbal
    Euler Rate Matrix 𝜑ሶ z0
    𝝎0𝑇 =𝑬
    𝜃ሶ x0
    y0

    𝑬𝟏𝟐 = 𝒆ො 𝑿 𝑹𝑿 𝑻 𝒆ො 𝒀 , z1
    φ
    y1
    x1
    𝑇 θ
    1 0 0 0 0
    𝑹𝑿 𝑻 𝒆ො 𝒀 = 0 𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜑 1 = 𝑐𝑜𝑠𝜑
    0 −𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜑 0 𝑠𝑖𝑛𝜑

    1 0
    𝑬𝟏𝟐 = 0 𝑐𝑜𝑠𝜑
    0 𝑠𝑖𝑛𝜑
    Translational Kinetic Energy
    Lecture 4:
    3D Dynamics

    • Kinetic Energy

    • Potential Energy • Translation portion straightforward


    1
    𝑇𝑡 = 𝒎𝒓ሶ 𝑻 𝒓ሶ
    2
    • With: 𝑑
    𝒓ሶ = 𝑫𝑪𝑴 𝑻 𝒓𝟏
    𝑑𝑡
    Moment of Inertia (3D)
    Inertia about an arbitrary axis:

    Eg. Rotation about X-axis:

    𝐼𝑥𝑥 𝐼𝑦𝑥 𝐼𝑧𝑥


    Total inertia:
    𝐼 = 𝐼𝑦𝑥 𝐼𝑦𝑦 𝐼𝑧𝑦
    𝐼𝑧𝑥 𝐼𝑦𝑧 𝐼𝑧𝑧

    Off diagonals:
    Total Angular Velocity
    • Using the inertia: 𝟏 𝟎𝑻 𝟎 𝟎
    𝑻𝒓 = 𝝎 𝑰 𝝎
    𝟐
    • Problem!
    • Moment of Inertia wrt to 0 (inertial)
    • It will change as a function of orientation as the
    body rotates

    • Solution?
    • Define Inertia in body axis
    • Will be constant as the body rotates wrt 0
    Total Angular Velocity
    • Using the body inertia:
    Constant matrix

    𝟏 𝑩𝑻 𝑩 𝑩
    𝑻𝒓 = 𝝎 𝑰 𝝎
    𝟐
    • 𝝎𝑩 is total angular velocity of body in body axes

    • Relating inertias: 𝑰𝟎 = 𝑹𝟎𝑩 𝑰𝑩


    Potential Energy
    Lecture 4:
    3D Dynamics

    • Kinetic Energy • Assume all gravity for now


    • 𝟎 𝑻 𝟎
    Potential Energy
    𝑉𝑔 = 𝒎 𝒈 𝒓
    • With:
    Local gravitational
    0 acceleration
    𝒈𝟎 = 0
    𝑔
    Example: Acrobot
    Rotation Matrices:

    𝑐𝑜𝑠𝜃1 𝑠𝑖𝑛𝜃1 0 𝑐𝑜𝑠𝜃2 𝑠𝑖𝑛𝜃2 0 2


    𝑹𝟏𝟎 = −𝑠𝑖𝑛𝜃1 𝑐𝑜𝑠𝜃1 0 𝑹𝟐𝟏 = −𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃2 0
    0 0 1 0 0 1
    θ2
    L1
    𝑹𝟐𝟎 = 𝑹𝟐𝟏 𝑹𝟏𝟎
    y0 1 τ2
    θ1
    Positions: 𝐿1 0 x0
    𝑻 𝑻 2
    𝒓𝟎𝟎𝟏 = 𝑹𝟏𝟎 𝒓𝟏𝟎𝟏 = 𝑹𝟏𝟎
    0
    0
    𝐿2
    𝑻
    𝐿1 𝐿1
    𝟐 𝑻 𝟐 𝑻 𝑻 2
    𝒓𝟎𝟎𝟐 = 𝑹𝟏𝟎 0 + 𝑹𝟎 𝒓 𝟏𝟐 = 𝑹𝟏
    𝟎 0 + 𝑹𝟐𝟎
    0
    0 0
    0
    Example: Acrobot
    Angular Velocity:

    0
    2
    𝝎𝟏𝟎𝟏 = 0
    𝜃ሶ1 L1
    θ2

    0 0 y0 1 τ2
    θ1
    𝝎𝟐𝟎𝟐 = 𝑹𝟐𝟏 0 + 0 0 x0

    𝜃ሶ1 𝜃ሶ2
    0
    𝝎𝟐𝟎𝟐 = 0
    𝜃ሶ1 + 𝜃ሶ2
    Example: Quadcopter gimbal

    z0

    y0
    x0

    • Euler 3-2-1 for quad body


    • Generalised coordinates?
    𝑇
    𝒒= 𝑥 𝑦 𝑧 𝜑1 𝜃1 𝜓1 𝜑2 𝜃2
    Exercise: Quadcopter gimbal

    • Quad Angular Velocity

    𝜑ሶ 1
    𝝎𝟏𝟎𝟏 = 𝑬′𝑸𝟏 𝜃ሶ1
    𝜓ሶ 1 z0

    y0
    x0

    ′
    𝑬𝑸𝟏 = 𝒆ො 𝑿 , 𝑹𝑿 𝒆ො 𝒀 , 𝑹𝑿 𝑹𝒀 𝒆ො 𝒁
    Exercise: Quadcopter gimbal

    • Camera Angular Velocity


    𝟐 𝟐 𝟐
    𝝎𝟎𝟐 = 𝝎𝟎𝟏 + 𝝎𝟏𝟐

    𝜑ሶ 1
    𝜃ሶ1
    z0
    𝝎𝟐𝟎𝟏 = 𝑬′𝑸𝟐
    y0
    𝜓ሶ 1 x0

    𝑬′𝑸𝟐 = 𝑹𝒀 𝑹𝑿 𝒆ො 𝑿 , 𝑹𝒀 𝑹𝑿 𝑹𝑿 𝒆ො 𝒀 , 𝑹𝒀 𝑹𝑿 𝑹𝑿 𝑹𝒀 𝒆ො 𝒁
    Exercise: Puma 560

    • Determine Kinetic
    Energy of the
    gripper

    z0

    y0
    x0

    • Roll(Y)→Pitch(X)→Yaw(Z)
    Kinematic Chain
    z3
    φ3
    • What is 𝑹𝟒𝟎 ? z2
    x3
    y3
    z4

    φ2 y2 φ4,θ4,ψ4
    𝑹𝟒𝟎 = 𝑹𝟒𝟑 𝑹𝟑𝟐 𝑹𝟐𝟏 𝑹𝟏𝟎
    x4 y4
    x2
    • What is 𝑹𝟒𝟑 ? z1
    ψ1
    y1
    x1
    z0

    y0
    x0

    𝑐𝑜𝑠𝜓4 𝑠𝑖𝑛𝜓4 0 1 0 0 𝑐𝑜𝑠𝜃4 0 −𝑠𝑖𝑛𝜃4


    𝑹𝟒𝟑 = −𝑠𝑖𝑛𝜓4 𝑐𝑜𝑠𝜓4 0 0 𝑐𝑜𝑠𝜑4 𝑠𝑖𝑛𝜑4 0 1 0
    0 0 1 0 −𝑠𝑖𝑛𝜑4 𝑐𝑜𝑠𝜑4 𝑠𝑖𝑛𝜃4 0 𝑐𝑜𝑠𝜃4
    Z X Y
    Angular Velocity
    z3
    φ3
    x3
    • What is 𝝎𝟒
    z2 z4
    y3
    𝟎𝟒 ? φ2 y2 φ4,θ4,ψ4

    x4 y4
    𝟒 𝟒 𝟒 𝟒 𝟒
    𝝎𝟎𝟒 = 𝝎𝟎𝟏 + 𝝎𝟏𝟐 + 𝝎𝟐𝟑 + 𝝎𝟑𝟒 x2
    z1
    ψ1
    y1
    x1
    z0
    𝜑ሶ 4
    y0
    𝝎𝟒𝟎𝟏 = 𝑬′𝟏 𝜓ሶ 1 , 𝝎𝟒𝟏𝟐 = 𝑬′𝟐 𝜑ሶ 2 , 𝝎𝟒𝟐𝟑 = ′ 0x
    𝝎
    𝑬𝟑 𝜑ሶ 3 , 𝟑𝟒𝟒
    = 𝑬′𝟒 𝜃ሶ4
    𝑹𝟒𝟑 𝜓ሶ 4
    ′ 𝟑 𝟐
    𝑬𝟏 = 𝑹𝒁 𝑹𝑿 𝑹𝒀 𝑹𝟐 𝑹𝟏 𝒆ො 𝒁

    𝑬′𝟐 = 𝑹𝒁 𝑹𝑿 𝑹𝒀 𝑹𝟑𝟐 𝒆ො 𝑿 𝑬′𝟑 = 𝑹𝒁 𝑹𝑿 𝑹𝒀 𝒆ො 𝑿


    Easier way?

    • It would be great if we could just use the final rotation


    matrix:
    Some magic
    𝟒 𝟒
    𝑹𝟎 𝝎𝟎𝟒

    • We can!
    Skew Symmetric Property

    • R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical


    Introduction to Robotic Manipulation. CRC Press, 1994.
    (Chapter 4.1)
    𝑰 𝑻 ሶ𝑰
    𝝎𝑩 × = 𝑹𝑩 𝑹𝑩 =𝑺

    0 −𝜔3 𝜔2
    𝝎𝑩 × = 𝜔3 0 −𝜔1
    −𝜔2 𝜔1 0
    The end.

    • Next lecture:
    • Generalised
    forces

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