Manipulator dynamics:

3.1 Introduction
Robotics is a complex field involving many diverse disciplines, such as physics,
properties of materials, statics and dynamics, electronics, control theory, vision,
signal processing, computer programming, and manufacturing. In this book
our main interest is control of robot manipulators. The purpose of this chapter
is to study the dynamical equations needed for the study of robot control.
For those desiring a background in control theory, Chapter 2 is provided.
For those desiring a background in the basics of robot manipulators, in Appendix
A we examine the geometric structure of robot manipulators, covering basic
manipulator configurations, kinematics, and inverse kinematics. There we
review as well the manipulator Jacobian, which is essential for control in
Cartesian or workspace coordinates, where the desired trajectories of the arm
are usually specified to begin with.The robot dynamics are derived in Section 3.2.
Lagrangian mechanics are used in this derivation. In Section 3.3 we review some
fundamental properties of the arm dynamical equation that are essential in subsequent
chapters for which is referred to throughout the text.
3.2 Lagrange-Euler Dynamics
For control design purposes, it is necessary to have a mathematical model
that reveals the dynamical behavior of a system. Therefore, in this section we
derive the dynamical equations of motion for a robot manipulator. Our
approach is to derive the kinetic and potential energy of the manipulator and
then use Lagranges equations of motion.
In this section we ignore the dynamics of the electric or hydraulic motors
that drive the robot arm; actuator dynamics is covered in Section 3.6.

Force, Inertia, and Energy

Let us review some basic concepts from physics that will enable us to better
understand the arm dynamics [Marion 1965]. In this subsection we use boldface
to denote vectors and normal type to denote their magnitudes.
The centripetal force of a mass m orbiting a point at a radius r and angular
velocity is given by

(3.2.1)
Linear velocity is given by v=wr, (3.2.2)
which in this case means simply that v=r.

FORCE CONTROL:
Control of the physical interaction between a robot
manipulator and the environment is crucial for the successful
execution of a number of practical tasks where
the robot end-effector has tomanipulate an object or perform
some operation on a surface.
Passive Interaction Control
In passive interaction control the trajectory of the robot
end-effector is modified by the interaction forces due
to the inherent compliance of the robot. The compliance
may be due to the structural compliance of the
links, joints, and end-effector, or to the compliance of
the position servo. Soft robot arms with elastic joints
or links are purposely designed for intrinsically safe
interactionwith humans. In industrial applications, a mechanical
device with passive compliance, known as the
remote center of compliance (RCC) device [7.1], is
widely adopted.
Active Interaction Control
In active interaction control, the compliance of the
robotic system is mainly ensured by a purposely designed
control system. This approach usually requires
the measurement of the contact force and moment,
which are fed back to the controller and used to modify
or even generate online the desired trajectory of the
robot end-effector

End Effectors
In the terminology of robotics, end effectors can b
e defined as a device which is attached to
the robots wrist to perform a specific task. The ta
sk might be work part handling, spot
welding, spray painting, or any of a great variety
of other functions. The possibilities are
limited only by the imagination and ingenuity of th
e application engineers who design robot
systems. The end effectors are the special purpose
tooling which enables the robot to perform
a particular job. It is usually custom engineered f
or that job, either by the company that owns
the robot or company that sold the robots. Most rob
ot manufacturer has engineered groups

which design and fabricate end effectors or provide

advice to their customers on end effectors
design.
For purpose organization, we will divide the variou
s types of end effectors into two
categories: grippers and tools.
1.
Grippers:
are generally used to grasp and hold an object and
place it at a desired
location. Grippers can be classified as
Mechanical grippers
Vacuum or suction cups
Magnetic grippers
Adhesive grippers
Hooks,
Scoops, and so forth.
2.
Tools:
a robot is required to manipulate a tool to perfor
m an operation on a work part.
Here the tool acts as end-effectors. Spot-welding t
ools, arc-welding tools, spraypainting nozzles, and rotating spindles for drillin
g and grinding are typical examples
of tools used as end-effectors.
Work Cell Control And Interlocks
Work cell control: industrial robots usually work w
ith other things: processing equipment,
work parts, conveyors, tools and perhaps human oper
ators. A means must be provided for
coordinating all of the activities which are going
on within the robot workstations. Some of
the activities occur sequentially, while others tak
e place simultaneously to make certain that
the various activities are coordinated and occur in
the proper sequence, a device called the
work cell controller is used. The work cell control
ler usually resides within the robots and has
overall responsibility for regulating the activitie
s of the work cell components.
Functions of work cell controller
1.Controlling the sequence of activities in the work cycles
2.Controlling simultaneous activities
3.Making decisions to proceed based on incoming signals
4. Making logical decisions
5. Performing computations
6. Dealing with exceptional events
7.Performing irregular cycles, such as periodically changing tools

Types of Artificial Gripper Mechanisms

Gripper Mechanisms can be classified into following major categories:
1) Mechanical finger Grippers- sub-classification is based on method of actuation.
2) Vacuum and Magnetic Grippers- sub-classification is based on type of the force-exerting
elements.
3) Universal Grippers- sub-classification is inflatable fingers, soft fingers & three fingered grippers.