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    Robot Arm KINEMATICs and Dynamics

    Uploaded by

    Tirth Vyas
    This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

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    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd

    Robot Arm KINEMATICs and Dynamics

    Uploaded by

    Tirth Vyas
    32 views27 pages
    This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

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    This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    32 views27 pages

    Robot Arm KINEMATICs and Dynamics

    Uploaded by

    Tirth Vyas
    This document discusses robot arm dynamics and kinematics. It covers topics like D-H notation, forward and inverse kinematics, workspace analysis, and Lagrangian dynamics formulation. The key points are: 1) It introduces robot arm kinematics which studies motion without causes, and dynamics which studies causes of motion and their effects. 2) It describes the equations for forward kinematics, inverse kinematics, and equation of motion (EOM) which relates joint torques to link motion. 3) It provides the Lagrangian mechanics formulation for dynamic modeling of 1 DOF and 2 DOF robotic arms, resulting in the matrix equation of motion using generalized coordinates. 4) It outlines the general Lagrangian-Euler formulation

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
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    Robot Arm Dynamics

    D H notation MATRIX
    RP Arm forward kinematics
    Frame assignment
    RRR arm
    Inverse Kinematics
    • Forward kinematics generalised results as
    Robot Work space
    Reachable work space
    Multiple Solutions
    Redundant Manipulator
    Contents
    • Introduction
    • Applications (Robocon projects)
    • Lagrange Euler Formulation
    • Dynamic model of One DoF manipulator
    • Dynamic model of Two DoF Manipulator
    • General LE formulation algorithm
    • MATLAB programme - Simulation
    Introduction
    Kinematics
    • Studies the motion without regard for the cause of motion and its effect
    • Needs information of system architecture i.e. links, link lengths, link
    twisting etc.
    • Provides information for position, velocity and acceleration

    Dynamics
    • Studies the cause of motion and its effect
    • Needs information of motions like position, velocity, acceleration etc.
    • Provides information for force and torque
    Introduction
    • Kinematics of Robotic Arm
    • Relation between the Joint variables and End effector
    positions
    • Forward
    Joint End
    • Inverse
    variable effector
    s positions
    Introduction
    • Equation of Motion (EOM)
    • Relationship between joint actuator torques and End
    motion of links
    Joint
    actuato effector
    • Used for
    r forces motion
    • Simulation (Forward)
    • Design of control algorithm (Inverse)

    Lagrange-Euler Newton-Euler

    Lagrange Mechanics Newtonian mechanics

    Energy Based Force balance


    Lagrange Mechanics

    • L = Scalar function called Lagrangian Function


    • K = Total kinetic energy of the manipulator
    • P = Total potential energy of the manipulator
    • Equation of Motion (Dynamic Model)
    • for i=1, 2, 3, … n

    • q = Generalized coordinates
    x
    One DoF linear System f m

    • Equation of Motion

    •  Newton’s Law
    One
    Y1
    DoF Manipulator – Dynamic Model

    m1 • Equation of Motion
    (x1,y1)

    θ •

    X1 •
    Y1
    Two DoF Manipulator – Dynamic Model
    • Kinetic Energy
    (x2,y2) X2
    g m2

    θ2
    • Potential Energy
    • and
    m1
    • Lagrangian Function
    (x1,y1)
    θ1
    X1
    ()
    1 1 2˙ 2 1 2 ˙ 2 ˙ 2 ˙ ˙ 1 ˙ 2 ˙ ˙ 1 1
    ()
    𝐿= 𝑚1+𝑚2 𝑙1 𝜃1 + 𝑚2𝑙2 (𝜃1 +𝜃2 +2𝜃1𝜃2)+ 𝑚2𝑙1𝑙2𝐶2(𝜃1 +𝜃1𝜃2)− 𝑚1+𝑚2 𝑔𝑙1𝑆1− 𝑚2𝑔𝑙2𝑆12
    23 6 2 2 2
    Two DoF Manipulator – Dynamic Model
    • and

    Mii = effective inertia


    Mij = effective coupling inertia
    Hi = centrifugal and Coriolis acceleration force
    Gi = gravity
    Generalized EOM using LE formulation for n
    DOF manipulator
    𝑛 𝑖 𝑖 𝑛
    1
    2 𝑖=1 𝑗=1 𝑘=1
    𝑗 −1 0
    [
    𝐿= ∑ ∑ ∑ 𝑇𝑟 (❑𝑇 𝑗−1 𝑄 𝑗 ❑𝑇 𝑖 ) 𝐼 𝑖 ( ❑𝑇 𝑘−1 𝑄 𝑘 ❑𝑇 𝑖 ) 𝑞˙ 𝑗 𝑞˙ 𝑗 + ∑ 𝑚𝑖 𝑔 ¿0𝑇 𝑖 ❑𝑟 𝑖
    0 𝑘− 1 𝑇

    𝑖=1
    𝑖
    ]
    𝑛 𝑛 𝑛
    𝜏 𝑖= ∑ 𝑀 𝑖𝑗 (𝑞) 𝑞¨ 𝑗 + ∑ ∑ h𝑖𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘+𝐺𝑖
    𝑗=1 𝑗=1 𝑘=1

    [ ]
    𝑛 𝑛
    𝑛
    𝜕 ( 𝑑𝑝𝑘 )
    ∑ 𝑇𝑟 [ 𝑑 𝑝𝑗 𝐼 𝑝 𝑑𝑝𝑖 ] h𝑖𝑗𝑘 = ∑ 𝐺𝑖 =− ∑ 𝑚𝑝 𝑔 𝑑 𝑝𝑖 ❑𝑟 𝑝
    𝑇 𝑇 𝑝
    𝑀 𝑖𝑗= 𝑇𝑟 𝐼 𝑝 𝑑 𝑝𝑖
    𝑝=m ax ⁡(𝑖 , 𝑗) 𝑝=m ax ⁡( 𝑖, 𝑗 ,𝑘 ) 𝜕 𝑑𝑝 𝑝=𝑖

    {
    0 𝑗 −1 𝑘− 1
    𝜕 𝑑 𝑖𝑗 𝑇 𝑗 − 1 𝑄 𝑗 ❑𝑇 𝑘 −1 𝑄𝑘 ❑ 𝑇 𝑖 𝑓𝑜𝑟 𝑖 ≥ 𝑘 ≥𝑖
    ❑
    = 𝑇 𝑄 𝑘 −1𝑇 𝑄 𝑗 − 1𝑇 𝑓𝑜𝑟 𝑖 ≥ 𝑗 ≥ 𝑘
    0
    𝜕 𝑞𝑘 𝑘− 1❑ 𝑘 ❑ 𝑗− 1 𝑗 ❑ 𝑖
    0 𝑓𝑜𝑟 𝑖 ≥ 𝑘≥ 𝑖
    RoboAnalyzer – Visualization
    Matlab programme

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