ME G511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao
Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G511
Dynamic Modelling
DYNAMIC MODELING

 During the work cycle, a manipulator must accelerate, move at

constant speed, and decelerate.

 This time-varying position and orientation of the manipulator is

termed as its dynamic behaviour.

 Time-varying torques are applied at the joints (by the joint

actuators) to balance the internal and external forces.

 The internal forces are caused by motion (velocity and

acceleration) of links.

 Inertial, Coriolis, and frictional forces are some of the internal

forces.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The external forces are the forces exerted by the environment.

 These include the “load” and gravitational forces.

 As a result, links and joints have to withstand stresses caused by

force or torque balance across them.

 Mathematical model for the dynamic behaviour of the

manipulator is to be developed.

 The mathematical equations, often referred as manipulator

dynamics, are a set of equations of motion (EOM) that describe
the dynamic response of the manipulator to input actuator
torques.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The dynamic model of a manipulator is useful for computation of
torques and forces required for execution of a typical work cycle,
which is a vital information for the design of links, joints, drives,
and actuators.

 The dynamic behaviour of the manipulator provides relationship

between joint actuator torques and motion of links for simulation
and design of control algorithms.

 The manipulator control maintains the dynamic response of the

manipulator to obtain the desired performance, which directly
depends on the accuracy of the dynamic model and efficiency of
the control algorithms.

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The control problem requires specifying the control strategies to
achieve the desired response and performance.

 Simulations of manipulator motion permits testing of control

strategies, motion planning, and performance studies without a
physical prototype of the manipulator.

 A serial link manipulator represents a complex dynamic system,

which can be modeled by systematically using known physical
laws of Lagrangian mechanics or Newtonian mechanics.

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Approaches such as Lagrage-Euler (LE), which is “energy-based”,
and Newton-Euler (NE), based on “force-balance”, can be
systematically applied to develop the manipulator EOM.

 Assuming rigid body motion, no backlash, no friction and

neglecting effects of control component dynamics, the resulting
EOM are a set of second order, coupled, nonlinear differential
equations.

 Also these EOM consist of inertia loading and coupling reaction

forces between joints.

 Another method, the generalized D’Alembert principle, provides

an ‘equivalent’ dynamic model.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The Newton-Euler and Lagrange-Euler formulations of the
dynamic model provide a closed-form solution.

 The Newton-Euler and Lagrange-Euler closed-form solutions are

computationally intensive making real time control based on such
a dynamic model, inefficient, if not impossible.

 To improve the computational speed, recursive methods and

approximate models based on simplifying assumptions have been
developed.

 These approximate models, however, result in sub-optimal

dynamic performance and restrict arm movement to low speeds.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The LE and NE models provide a symbolic solution to manipulator
dynamics and give insight into the control problem.
LAGRANGIAN MECHANICS

 A scalar function called Lagrange function or Lagrangian 𝓛 is

defined as the difference between the total kinetic energy 𝑻 and
the total potential energy 𝑽 of a mechanical system.

 𝓛=𝑻−𝑽

 The Lagrange-Euler dynamic formulation is based on a set of

generalized coordinates to describe the system variables.

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 In the generalized coordinates, generalized displacement ‘𝒒’ is
used as a joint variable, which describes a linear displacement 𝒅
for a prismatic joint and angular displacement 𝜽 for rotary and 𝒒ሶ
describes linear velocity 𝒅ሶ = 𝒗 and angular velocity 𝜽ሶ = 𝝎 for
prismatic and rotary joints, respectively.
 Similarly, generalized torque ‘𝝉’ required at the joint to produce
desired dynamics represents the force 𝒇 for a prismatic joint and
torque 𝝉 for a revolute joint, as seen in equation 𝝉 =
𝑭𝒐𝒓𝒄𝒆 𝒊𝒇 𝒕𝒉𝒆 𝒋𝒐𝒊𝒏𝒕 𝒊𝒔 𝒑𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄
ቊ .
𝑻𝒐𝒓𝒒𝒖𝒆 𝒊𝒇 𝒋𝒐𝒊𝒏𝒕 𝒊𝒔 𝒓𝒆𝒗𝒐𝒍𝒖𝒕𝒆

 Because kinetic and potential energies are function of 𝒒𝒊 and 𝒒ሶ 𝒊

(𝒊 = 𝟏, 𝟐, … . . 𝒏), so is the Lagrangian 𝓛.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The dynamic model based on Lagrange-Euler formulation is
obtained from the Lagrangian, as set of equations.
𝒅 𝝏𝓛 𝝏𝓛
 𝝉𝒊 = − for 𝒊 = 𝟏, 𝟐, … . . 𝒏
𝒅𝒕 𝝏𝒒ሶ 𝒊 𝝏𝒒𝒊

 The left-hand side of dynamic equations can be interpreted as

sum of the torques or forces due to kinetic and potential energy
present in the system.
 The right-hand side 𝝉𝒊 is the joint torque for joint 𝒊 that is
provided by the actuator 𝒊.

 If 𝝉𝒊 = 𝟎, means that joint 𝒊 does not move and if 𝝉𝒊 ≠ 𝟎, the

manipulator movement is modified by the actuator at joint 𝒊.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Example: Write equations of motion using Lagrange’s
equation and find the frequency of vibration for the
system given in the figure.

 Block can move along horizontal by

𝒙 and pendulum swings by 𝜽.

 Hence generalised coordinates are (𝒙, 𝜽).

m
 Displacement of the mass m is 𝐬 = (𝒙 + 𝒍𝜽).

ሶ
 Velocity of the mass m is 𝒗 = (𝒙ሶ + 𝒍𝜽).

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Kinetic energy of the system is.
𝟏 𝟏 𝟐
𝑻 = 𝒎𝒗𝟐
= 𝒎 ሶ
𝒙ሶ + 𝒍𝜽 .
𝟐 𝟐

𝟏
𝑻 = 𝒎 ሶ 𝜽ሶ + 𝒍𝟐 𝜽ሶ 𝟐 .
𝒙ሶ 𝟐 + 𝟐𝒙𝒍
𝟐

 Potential energy of the system 𝑽 is.

𝒙 𝟏
 𝑽𝒔𝒑𝒓𝒊𝒏𝒈 = − ‫ 𝟎׬‬−𝒌𝒙 𝒅𝒙 = 𝟐 𝒌𝒙𝟐

 𝑽𝒎𝒂𝒔𝒔 = 𝒎𝒈𝒍 𝟏 − cos 𝜽

𝟏
 𝐕 = 𝑽𝒔𝒑𝒓𝒊𝒏𝒈 + 𝑽𝒎𝒂𝒔𝒔 = 𝒌𝒙𝟐 + 𝒎𝒈𝒍 𝟏 − cos 𝜽
𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝒅 𝝏𝓛 𝝏𝓛
 Lagrange’s equation is  𝝉𝒊 = − for 𝒊 = 𝒙, 𝜽
𝒅𝒕 𝝏𝒒ሶ 𝒊 𝝏𝒒𝒊

 𝓛=𝑻−𝑽

𝒅 𝝏𝓛 𝝏𝓛 𝒅 𝝏𝓛 𝝏𝓛
 𝝉𝒙 = −  𝝉𝜽 = 𝒅𝒕 − 𝝏𝜽
𝒅𝒕 𝝏𝒙ሶ 𝝏𝒙 𝝏𝜽ሶ

𝟏 𝟏
 𝓛= 𝒎 ሶ𝟐
𝒙 + 𝟐𝒙𝒍 ሶ ሶ
ሶ 𝜽 + 𝒍 𝜽 − 𝒌𝒙𝟐 − 𝒎𝒈𝒍 𝟏 − cos 𝜽
𝟐 𝟐
𝟐 𝟐

𝝏𝓛 𝒅 𝝏𝓛
 = 𝒎 𝒙ሶ + 𝒍𝜽ሶ  = 𝒎 𝒙ሷ + 𝒍𝜽ሷ
𝝏𝒙ሶ 𝒅𝒕 𝝏𝒙ሶ

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝝏𝓛 𝒅 𝝏𝓛 𝝏𝓛
 = −𝒌𝒙  𝝉𝒙 = 𝒅𝒕 − 𝝏𝒙
𝝏𝒙 𝝏𝒙ሶ

𝒅 𝝏𝓛
 = 𝒎 𝒙ሷ + 𝒍𝜽ሷ  𝝉𝒙 = 𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒌𝒙
𝒅𝒕 𝝏𝒙ሶ

 Since no external force is applied 𝝉𝒙 = 𝟎.

 Hence the first equation of motion is

 𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒌𝒙 = 𝟎

𝒅 𝝏𝓛 𝝏𝓛
 From the second equation 𝝉𝜽 = − 𝝏𝜽
𝒅𝒕 𝝏𝜽ሶ

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒅 𝝏𝓛 𝝏𝓛
𝝉𝜽 = −
𝒅𝒕 𝝏𝜽ሶ 𝝏𝜽

𝟏 𝟏
 𝓛= 𝒎 ሶ𝟐
𝒙 + 𝟐𝒙𝒍 ሶ ሶ
ሶ 𝜽 + 𝒍 𝜽 − 𝒌𝒙𝟐 − 𝒎𝒈𝒍 𝟏 − cos 𝜽
𝟐 𝟐
𝟐 𝟐
𝝏𝓛 𝒅 𝝏𝓛
 = 𝒎 𝒍𝒙ሶ + 𝒍 𝜽ሶ 𝟐
 = 𝒎𝒍 𝒙ሷ + 𝒍𝜽ሷ
𝝏𝜽ሶ 𝒅𝒕 𝝏𝜽ሶ
𝝏𝓛
 = −𝒎𝒈𝒍 sin 𝜽 = −𝒎𝒈𝒍𝜽
𝝏𝜽

𝒅 𝝏𝓛 𝝏𝓛
 𝝉𝜽 = 𝒅𝒕 𝝏𝜽ሶ
− 𝝏𝜽  𝝉𝜽 = 𝒎𝒍 𝒙ሷ + 𝒍𝜽ሷ + 𝒎𝒈𝒍𝜽

 Since no external torque is applied 𝝉𝜽 = 𝟎.

 Hence the second equation of motion is

 𝒎𝒍 𝒙ሷ + 𝒍𝜽ሷ + 𝒎𝒈𝒍𝜽 = 𝟎  𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒎𝒈𝜽 = 𝟎
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Hence the two equations of motion are

 𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒌𝒙 = 𝟎  𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒎𝒈𝜽 = 𝟎

 Comparing the above two equations

𝒎𝒈𝜽ሷ
 𝒌𝒙 = 𝒎𝒈𝜽  𝒙=
𝒎𝒈𝜽  𝒙ሷ =
𝒌 𝒌

 𝒎 𝒙ሷ + 𝒍𝜽ሷ + 𝒎𝒈𝜽 = 𝟎  𝒙ሷ + 𝒍𝜽ሷ + 𝒈𝜽 = 𝟎

𝒎𝒈𝜽ሷ 𝒎𝒈
 + 𝒍𝜽ሷ + 𝒈𝜽 = 𝟎  + 𝒍 𝜽ሷ + 𝒈𝜽 = 𝟎
𝒌 𝒌
𝒈
 𝜽ሷ + 𝒎𝒈 𝜽=𝟎
+𝒍
𝒌
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
TWO DEGREE OF FREEDOM MANIPULATOR-DYNAMIC MODEL

 The dynamics of simple-manipulator is worked out to illustrate

the Lagrange-Euler formulation and to clarify the problem involved
in the dynamic modeling.

A planar 𝟐 -DOF
manipulator with both
rotary joints, as shown in
figure is considered and its
dynamic model is
obtained using direct
geometric approach
before discussing the
general formulation.

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 For the manipulator,
coordinate frames 𝟎 and 𝟏 ,
joint variables 𝜽𝟏 and 𝜽𝟐 link
lengths 𝑳𝟏 and 𝑳𝟐 and mass of
links 𝒎𝟏 and 𝒎𝟐 , respectively,
are shown in figure.

 The mass of each link is assumed to be a point mass located at

the center of mass of each link and links are assumed to be
slender members.
 The linear and angular velocities are 𝒗𝟏 , 𝒗𝟐 , 𝜽ሶ 𝟏 and 𝜽ሶ 𝟐
respectively.
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The Lagrangian requires kinetic and potential energies of the
manipulator.

 The kinetic energy of a

rigid body (a link), can be
expressed as : 𝑻=
𝟏 𝟐 𝟏 𝟐
𝒎𝒗 + 𝑰𝝎 , where 𝒗 is
𝟐 𝟐
the linear velocity, 𝝎 is the
angular velocity, 𝒎 is the
mass, and 𝑰 is the moment
of inertia of the rigid body
about its center of mass.

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Thus, the kinetic energy
for the link 𝟏 with the
𝟏
 linear velocity 𝒗𝟏 = 𝑳𝟏 𝜽ሶ 𝟏
𝟐
 angular velocity 𝝎𝟏 = 𝜽ሶ 𝟏 ,

 mass 𝒎𝟏 and

 moment of inertia
𝟏
𝑰𝟏 = 𝟏𝟐 𝒎𝟏 𝑳𝟐 𝟏 is

𝟏 𝟏 𝟏 𝟐 ሶ𝟐 𝟏
 𝑻𝟏 = 𝟐
𝟐
𝒎 𝟏 𝒗𝟏 + 𝟐
𝑰𝟏 𝝎𝟏 = 𝟐
𝟖
𝒎𝟏 𝑳 𝟏 𝜽 𝟏 + 𝟐𝟒 𝒎𝟏 𝑳𝟏 𝟐 𝜽ሶ 𝟐 𝟏 =
𝟏
𝒎𝟏 𝑳𝟏 𝟐 𝜽ሶ 𝟐 𝟏 ;
𝟔
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏
 and its potential energy is 𝑽𝟏 = 𝒎𝟏 𝒈𝑳𝟏 𝒔𝒊𝒏 𝜽𝟏 , where 𝒈 is the
𝟐
magnitude of acceleration due to gravity in the negative 𝒚 −axis
direction.

 For the second link, link 𝟐, the Cartesian position coordinates

(𝒙𝟐 , 𝒚𝟐 ) of the center of mass of link are:

𝟏
 𝒙𝟐 = 𝑳𝟏 𝒄𝒐𝒔 𝜽𝟏 + 𝟐 𝑳𝟐 𝒄𝒐𝒔 𝜽𝟏 + 𝜽𝟐 and
𝟏
 𝒚𝟐 = 𝑳𝟏 𝒔𝒊𝒏 𝜽𝟏 + 𝟐 𝑳𝟐 𝒔𝒊𝒏 𝜽𝟏 + 𝜽𝟐

 Differentiation of above two equations gives the components of

velocity of link 𝟐 as
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏
 ሶ
𝒙ሶ 𝟐 = −𝑳𝟏 𝒔𝒊𝒏 𝜽𝟏 𝜽𝟏 − 𝟐 𝑳𝟐 𝒔𝒊𝒏 𝜽𝟏 + 𝜽𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐

𝟏
 ሶ
𝒚ሶ 𝟐 = 𝑳𝟏 𝒄𝒐𝒔 𝜽𝟏 𝜽𝟏 + 𝟐 𝑳𝟐 𝒄𝒐𝒔 𝜽𝟏 + 𝜽𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐

 From these components, the square of the magnitude of velocity

of the end of link 𝟐 is

 𝒗𝟐 𝟐 = 𝒙ሶ 𝟐 𝟐 + 𝒚ሶ 𝟐 𝟐 .
𝟐
𝟏
 Or 𝒗𝟐 𝟐 = −𝑳𝟏 𝒔𝒊𝒏 𝜽𝟏 𝜽ሶ 𝟏 − 𝑳 𝒔𝒊𝒏 𝜽𝟏 + 𝜽𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 +
𝟐 𝟐
𝟐
𝟏
𝑳𝟏 𝒄𝒐𝒔 𝜽𝟏 𝜽ሶ 𝟏 + 𝑳 𝒄𝒐𝒔 𝜽𝟏 + 𝜽𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐 𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏 𝟐 𝟐 𝟐
 𝒗𝟐 𝟐
= 𝑳 𝟏 𝑺 𝟏 𝜽 𝟏 + 𝟒 𝑳 𝟐 𝑺 𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐 ሶ 𝟐𝟐
+ 𝑳𝟏 𝑳𝟐 𝑺𝟏 𝑺𝟏𝟐 ൫𝜽ሶ 𝟐 𝟏 +

 Simplifying
𝟏 𝟐 𝟐 𝟐
 𝒗𝟐 𝟐
= 𝑳 𝟏 𝑺 𝟏 𝜽 𝟏 + 𝑳 𝟏 𝑪 𝟏 𝜽 𝟏 + ቄ𝟒 𝑳 𝟐 𝑺 𝟏𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐ሶ 𝟐 𝟐𝟐 𝟐 ሶ𝟐
+

𝟏 𝟐
 𝒗𝟐 = 𝑳 𝟏 𝜽ሶ 𝟐 𝟏 𝑺𝟐 𝟏 + 𝑪𝟐 𝟏 + 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐 𝟐
𝑺𝟐 𝟏𝟐 + 𝑪𝟐 𝟏𝟐 +
𝟒
𝑳𝟏 𝑳𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 𝑺𝟏 𝑺𝟏𝟐 + 𝑪𝟏 𝑪𝟏𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏 𝟐
 𝒗𝟐𝟐 = 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 𝑺𝟏 𝑪𝟐 + 𝑪𝟏 𝑺𝟐 𝟐 + 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐 𝟐 +
𝟒
𝑳𝟏 𝑳𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 𝑺𝟏 𝑺𝟏 𝑪𝟐 + 𝑪𝟏 𝑺𝟐 + 𝑪𝟏 𝑪𝟏 𝑪𝟐 − 𝑺𝟏 𝑺𝟐
𝟐

𝟏 𝟐
 𝒗𝟐 𝟐 = 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 ൛𝑺𝟐 𝟏 𝑪𝟐 𝟐 + 𝑪𝟐 𝟏 𝑺𝟐 𝟐 + 𝟐𝑺𝟏 𝑪𝟐 𝑪𝟏 𝑺𝟐 + 𝑪𝟐 𝟏 𝑪𝟐 𝟐 +
𝟒

𝟏 𝟐
 𝒗𝟐 𝟐 = 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 𝑺𝟐 𝟏 𝑪𝟐 𝟐 + 𝑺𝟐 𝟐 + 𝑪𝟐 𝟏 𝑺𝟐 𝟐 + 𝑪𝟐 𝟐 +
𝟒
𝑳𝟏 𝑳𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 𝑪𝟐 𝑺𝟐 𝟏 + 𝑪𝟐 𝟏 + 𝑺𝟏 𝑪𝟏 𝑺𝟐 − 𝑺𝟐
𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟐
 𝒗𝟐 𝟐 = 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 𝑺𝟐 𝟏 + 𝑪𝟐 𝟏 + 𝑳𝟏 𝑳𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 𝑪𝟐
𝟒

𝟏 𝟐
 𝒗𝟐 𝟐
= 𝑳 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟒 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐
+ 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐

 Here 𝑺𝒊 = 𝐬𝐢𝐧 𝜽𝒊 ; 𝑪𝒊 = 𝐜𝐨𝐬 𝜽𝒊 ; 𝑺𝟏𝟐 = 𝐬𝐢𝐧 𝜽𝟏 + 𝜽𝟐 ; 𝑪𝟏𝟐 =

𝐜𝐨𝐬 𝜽𝟏 + 𝜽𝟐 ;

 Thus, the kinetic energy of link 2 with 𝝎𝟐 = 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 and 𝑰𝟐 =

𝟏 𝟐
𝒎 𝑳 is
𝟏𝟐 𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏 𝟏 𝟏 𝟐
 𝑻𝟐 = 𝒎𝟐 𝒗𝟐 𝟐
+𝟐 𝟐
𝑰𝟐 𝝎𝟐 = 𝒎𝟐 ൬𝑳 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟒 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐
+
𝟐 𝟐

𝟏 𝟏 𝟐 𝟏
 𝑻𝟐 = 𝒎𝟐 𝑳 𝟏 𝜽 𝟏 + 𝟖 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐 ሶ 𝟐
+ 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 ൫𝜽ሶ 𝟐 𝟏 +
𝟐 𝟐

𝟏 𝟏 𝟏
 𝑻𝟐 = 𝒎𝟐 𝑳 𝟏 𝜽 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽 𝟏 + 𝜽𝟏 𝜽𝟐 + 𝟖 𝒎𝟐 𝑳𝟐 𝟐 ൫𝜽ሶ 𝟏 +
𝟐ሶ 𝟐 ሶ 𝟐 ሶ ሶ
𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏
 𝑻𝟐 = 𝟐 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝒎𝟐 𝑳𝟐 𝟐 𝟐 𝟐 𝟐 𝟐
𝟑 𝜽𝟏 + 𝜽𝟐 + 𝟐𝜽𝟏 𝜽𝟐 + 𝜽𝟏 + 𝜽𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐
ሶ ሶ ሶ ሶ ሶ ሶ
𝟐𝟒

𝟏 𝟏 𝒎𝟐 𝑳𝟐 𝟐 𝟐
 𝑻𝟐 = 𝟐
𝒎𝟐 𝑳 𝟏 𝜽ሶ𝟐 𝟏 + 𝒎𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 𝜽 ሶ𝟐 𝟏 + ሶ𝜽𝟏 𝜽ሶ 𝟐 + ሶ
ቀ𝜽𝟏 + 𝜽ሶ 𝟐
𝟐 𝟐 𝟔

 The potential energy of link 𝟐 is

𝟏
 𝑽𝟐 = 𝒎𝟐 𝒈𝑳𝟏 𝒔𝒊𝒏 𝜽𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝒔𝒊𝒏 𝜽𝟏 + 𝜽𝟐 = 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 +
𝟐
𝟏
𝟐
𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Substituting the equations for
𝟏
 𝑻𝟏 = 𝟔 𝒎𝟏 𝑳𝟏 𝟐 𝜽ሶ 𝟐 𝟏 ,
𝟏 𝟏
 𝑻𝟐 = 𝟐 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝒎𝟐 𝑳𝟐 𝟐
ሶ𝜽𝟏 𝟐 + 𝜽ሶ 𝟐 𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐 ,
𝟔
𝟏
 𝑽𝟏 = 𝒎𝟏 𝒈𝑳𝟏 𝑺𝟏 and
𝟐
𝟏
 𝑽𝟐 = 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 + 𝟐
𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐 ,

 The Lagrangian 𝓛 = 𝑻𝟏 + 𝑻𝟐 − 𝑽𝟏 − 𝑽𝟐 is obtained as

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏 𝟏
𝓛= 𝒎𝟏 𝑳𝟏 𝟐𝜽ሶ 𝟐𝟏 + ቄ 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝟔 𝟐 𝟐

 Rearranging and simplifying, the Lagrangian is

𝟏 𝟏 𝟏
𝓛= 𝒎𝟏 𝑳𝟏 𝟐 + 𝟐 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝟔
𝟏 𝟐 𝟐 𝟏 𝟏
𝒎 𝑳 𝟐
𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐 − 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 − 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟔 𝟐 𝟐 𝟐 𝟐

𝟏 𝟏 𝟏
 𝓛=𝟐 𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝟑
𝟏 𝟐 𝟐 𝟏 𝟏
𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐 − 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 − 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟔 𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒅 𝝏𝓛 𝝏𝓛
 Applying the Lagrange-Euler equation − 𝝏𝒒 = 𝝉𝒊 for link 𝟏,
𝒅𝒕 𝝏𝒒ሶ 𝒊 𝒊
the torque 𝝉𝟏 at joint 𝟏 is given by

𝒅 𝝏𝓛 𝝏𝓛
 𝝉𝟏 = −
𝒅𝒕 𝝏𝜽ሶ 𝟏 𝝏𝜽𝟏

𝝏𝓛
 Hence 𝝏𝜽ሶ 𝟏
=
𝟏 𝟏 𝟏
𝟐 𝟑
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝝏 𝟏 𝟐 𝟐
𝒎 𝟐 𝑳 𝟐
𝟐 𝜽 ሶ 𝟏 + 𝜽ሶ 𝟐 + 𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝝏𝜽ሶ 𝟏 𝟔
𝟏 𝟏
− 𝒎 𝟏 + 𝒎 𝟐 𝒈𝑳 𝑺
𝟏 𝟏 − 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏
𝝏𝓛 𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝟐𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟑
 =
𝝏𝜽ሶ 𝟏 𝟏
+ 𝟔 𝒎𝟐 𝑳𝟐 𝟐 𝟐𝜽ሶ 𝟏 + 𝟐𝜽ሶ 𝟐

𝟏 𝟏
𝝏𝓛 𝒎𝟏 + 𝒎𝟐 𝑳 𝟏 𝜽𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝟐𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟐 ሶ
𝟑
 =
𝝏𝜽ሶ 𝟏 𝟏
+ 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟑
𝝏𝓛
 =
𝝏𝜽𝟏
𝟏 𝟏 𝟐 ሶ𝟐 𝟏
𝒎 𝟏 + 𝒎 𝟐 𝑳 𝟏 𝜽 𝟏 + 𝒎 𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 𝜽ሶ 𝟐
𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐 𝟑 𝟐
𝝏 𝟏 𝟐 𝟐 𝟏
+ 𝒎 𝑳
𝟐 𝟐
𝟐
𝜽ሶ 𝟏 + 𝜽 ሶ 𝟐 + 𝟐 𝜽ሶ 𝜽
𝟏 𝟐
ሶ − 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏
𝝏𝜽𝟏 𝟔 𝟐
𝟏
− 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏
𝝏𝓛 𝝏 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝐬𝐢𝐧 𝜽𝟏
𝟐
 = 𝟏
𝝏𝜽𝟏 𝝏𝜽𝟏
− 𝒎𝟐 𝒈𝑳𝟐 𝐬𝐢𝐧 𝜽𝟏 + 𝜽𝟐
𝟐

𝟏
𝝏𝓛 − 𝟐
𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝐜𝐨𝐬 𝜽𝟏
 𝝏𝜽 = 𝟏
𝟏
−𝟐 𝒎𝟐 𝒈𝑳𝟐 𝐜𝐨𝐬 𝜽𝟏 + 𝜽𝟐

𝝏𝓛 𝟏 𝟏
 = − 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 − 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝝏𝜽𝟏 𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏
𝟑
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟏
𝒅 𝝏𝓛 𝒅 𝟏
 And 𝒅𝒕 𝝏𝜽ሶ 𝟏
= 𝒅𝒕
+𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝟐𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝟏
+ 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐

𝟏 𝟏
𝒅 𝝏𝓛 𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሷ 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝟐𝜽ሷ 𝟏 + 𝜽ሷ 𝟐
𝟑
 =
𝒅𝒕 𝝏𝜽ሶ 𝟏 𝟏 𝟏
−𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝟐𝜽𝟏 + 𝜽𝟐 𝜽𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏 + 𝜽ሷ 𝟐
ሶ ሶ ሶ

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝟐𝜽ሷ 𝟏 +
𝟑 𝟐
𝟏 𝟏
𝒅 𝝏𝓛 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሷ 𝟐 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏
𝟐 𝟑
 =
𝒅𝒕 𝝏𝜽ሶ 𝟏 𝟏
+ 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟏
− 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሷ 𝟏
𝟑
𝒅 𝝏𝓛 𝟏 𝟏 𝟏
 = + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሷ 𝟐 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐
𝒅𝒕 𝝏𝜽ሶ 𝟏 𝟑 𝟐 𝟑
𝟏
− 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽𝟏 𝜽𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐
ሶ ሶ
𝟐

𝟏 𝟏
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏
𝟑 𝟑
𝒅 𝝏𝓛 𝟏 𝟏
 𝒅𝒕 𝝏𝜽ሶ 𝟏
= +𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝑳𝟐 𝟐 𝜽ሷ 𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐 𝟑
𝟏
−𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒅 𝝏𝓛 𝝏𝓛
 Substituting these results in 𝝉𝟏 = 𝒅𝒕 − 𝝏𝜽 the torque at
𝝏𝜽ሶ 𝟏 𝟏
joint 𝟏 is obtained as

𝟏 𝟏
𝒎𝟏 + 𝒎𝟐 𝑳 𝟐
𝟏 + 𝒎𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 + 𝒎𝟐 𝑳 𝟐 𝟐 𝜽ሷ 𝟏
𝟑 𝟑
𝟏 𝟏 𝟐
+𝒎𝟐 𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 + 𝑳 𝟐 𝜽ሷ 𝟐
𝝉𝟏 = 𝟑 −
− 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟏
− 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐
𝟐
𝟏 𝟏
− 𝟐
𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 − 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏
 𝝉𝟏 = 𝒎𝟏 + 𝒎𝟐 𝑳 𝟐
𝟏 + 𝒎𝟐 𝑳 𝟏 𝑳 𝟐 𝑪 𝟐 + 𝒎 𝟐 𝑳 𝟐
𝟐 𝜽ሷ 𝟏 +
𝟑 𝟑
𝟏 𝟏 𝟐
𝒎𝟐 𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝑳 𝟐 𝜽ሷ 𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 −
𝟏 𝟏 𝟏
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐 + 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐 𝟐

 Similarly, the derivatives of Lagrangian equation for joint 𝟐 are

𝟏 𝟏 𝟏
𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 𝜽ሶ 𝟐 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐 𝟑
𝝏𝓛 𝝏 𝟏 𝟐 𝟐
 𝝏𝜽ሶ = 𝝏𝜽ሶ 𝟐
+ 𝟔 𝒎𝟐 𝑳 𝟐 𝜽𝟏 + 𝜽𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐 ሶ ሶ
𝟐
𝟏 𝟏
− 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 − 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟐 𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝟏 𝟏 𝟐
𝝏𝓛 𝝏 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽𝟏 𝜽𝟐 + 𝟔 𝒎𝟐 𝑳 𝟐 𝜽𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐
ሶ ሶ 𝟐 ሶ
𝟐
 𝝏𝜽ሶ =
𝟐 𝝏𝜽ሶ 𝟐 𝟏
− 𝒎𝟐 𝒈𝑳𝟐 𝐬𝐢𝐧 𝜽𝟏 + 𝜽𝟐
𝟐

𝝏𝓛 𝟏 𝟏
 𝝏𝜽ሶ = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟏 + 𝟔 𝒎𝟐 𝑳𝟐 𝟐 𝟐𝜽ሶ 𝟐 + 𝟐𝜽ሶ 𝟏
𝟐 𝟐

𝝏𝓛 𝟏 𝟏
 𝝏𝜽ሶ = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟏 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐 and
𝟐 𝟐

𝟏 𝟏 𝟏
𝟐 𝟑
𝒎𝟏 + 𝒎𝟐 𝑳 𝟏 𝜽 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐ሶ 𝟐

𝝏𝓛 𝝏 𝟏 𝟐 𝟐
 𝝏𝜽 = 𝝏𝜽𝟐
+ 𝟔 𝒎𝟐 𝑳 𝟐 𝜽𝟏 + 𝜽𝟐 + 𝟐𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐 ሶ ሶ
𝟐
𝟏 𝟏
− 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑺𝟏 − 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑺𝟏𝟐
𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏
𝝏𝓛 𝝏 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝐜𝐨𝐬 𝜽𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐
 𝝏𝜽 = 𝟏
𝝏𝜽𝟐
𝟐 − 𝒎𝟐 𝒈𝑳𝟐 𝐬𝐢𝐧 𝜽𝟏 + 𝜽𝟐
𝟐

𝟏
𝝏𝓛 −𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝐬𝐢𝐧 𝜽𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
 𝝏𝜽 = 𝟏
𝟐
− 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝐜𝐨𝐬 𝜽𝟏 + 𝜽𝟐

𝟏
𝝏𝓛 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟏 + 𝜽ሶ 𝟏 𝜽ሶ 𝟐
 𝝏𝜽 = 𝟏
𝟐
−𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒅 𝝏𝓛 𝒅 𝟏 𝟏
 Hence = 𝒅𝒕 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሶ 𝟏 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሶ 𝟏 + 𝜽ሶ 𝟐
𝒅𝒕 𝝏𝜽ሶ 𝟐 𝟐

𝟏 𝟏
𝒅 𝝏𝓛 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 𝜽ሷ 𝟏 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐
𝟐
 =
𝒅𝒕 𝝏𝜽ሶ 𝟐 𝟏
+ 𝒎𝟐 𝑳 𝟐 𝟐 𝜽ሷ 𝟏 + 𝜽ሷ 𝟐
𝟑

𝟏 𝟏
𝒅 𝝏𝓛 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏
𝟐
 =
𝒅𝒕 𝝏𝜽ሶ 𝟐 𝟏 𝟏
− 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽𝟏 𝜽𝟐 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐
ሶ ሶ
𝟐 𝟑

Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝒅 𝝏𝓛 𝝏𝓛
 Finally 𝝉𝟐 = − =
𝒅𝒕 𝝏𝜽ሶ 𝟐 𝝏𝜽𝟐
𝟏 𝟏
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏
𝟐 𝟏
𝟏 𝟏
− ቂ− 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 ൫𝜽ሶ 𝟐 𝟏 +
− 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐

𝟏 𝟏 𝟏
 𝝉𝟐 = 𝒎 𝑳 𝑳 𝑪
𝟐 𝟏 𝟐 𝟐 + 𝒎 𝑳 𝟐
𝜽ሷ 𝟏 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝟐 𝟑 𝟐 𝟐
𝟏 𝟐 ሷ 𝟏 𝟏
𝒎 𝟐 𝑳 𝟐 𝜽𝟐 + 𝒎 𝟐 𝑳 𝟏 𝑳 𝟐 𝑺 𝟐 𝜽ሶ 𝟐𝟏 ሶ ሶ
+ 𝜽𝟏 𝜽𝟐 + 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟑 𝟐

𝟏 𝟏 𝟏
 𝝉𝟐 = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝑳𝟐 𝟐 𝜽ሷ 𝟏 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
𝟐
𝟏 𝟐 ሷ 𝟏 𝟏
𝒎 𝑳 𝜽 +𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽 𝟏 + 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 +
ሶ 𝟐
𝟑 𝟐 𝟐 𝟐
𝟏
𝟐
𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏 𝟏 𝟐
 𝝉𝟐 = 𝒎𝟐 𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝑳 𝟐 ሷ𝜽𝟏 + 𝟏 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐 +
𝟑 𝟑
𝟏 𝟏
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐

 Because both the joints are revolute, the generalized torques 𝝉𝟏

and 𝝉𝟐 represent the actual joint torques.

 Therefore EOM (dynamic model) of the 2−link planar manipulator

are
𝟏 𝟏
 𝝉𝟏 = 𝒎𝟏 + 𝒎𝟐 𝑳 𝟐
𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏 +
𝟑 𝟑
𝟏 𝟏 𝟐
𝒎𝟐 𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝑳 𝟐 𝜽ሷ 𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 −
𝟏 𝟏 𝟏
𝒎 𝑳 𝑳 𝑺
𝟐 𝟏 𝟐 𝟐 𝜽ሶ 𝟐
𝟐 + 𝒎 𝟏 + 𝒎 𝟐 𝒈𝑳 𝑪
𝟏 𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐 𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 And
𝟏 𝟏 𝟐 𝟏
 𝝉𝟐 = 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝑳 𝟐 𝜽𝟏 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐
𝒎𝟐 𝟐 ሷ +
𝟏 𝟏
𝒎 𝑳 𝑳 𝑺
𝟐 𝟏 𝟐 𝟐 𝜽ሶ 𝟐
𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐

 Torque equations
𝟏 𝟏
 𝝉𝟏 = 𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏 +
𝟑
𝟏 𝟏 𝟐
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝑳 𝟐 𝜽ሷ 𝟐 − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 −
𝟐 𝟑
𝟏 𝟏 𝟏
ሶ 𝟐
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽 𝟐 + 𝟐 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 + 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐
𝟏 𝟏 𝟏
 and 𝝉𝟐 = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝑳𝟐 𝟐 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐 +
𝟐 𝟑 𝟑
𝟏 𝟏
ሶ 𝟐
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽 𝟏 + 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐
 can be written in the generalized form as
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝟏 𝟏 𝟏 𝟏
𝝉𝟏 = 𝒎𝟏 + 𝒎𝟐 𝑳𝟐 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝟑 𝑳𝟐 𝟐 𝜽ሷ 𝟐 −
𝟑 𝟐
𝟏 𝟏 𝟏
𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐 + 𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐
𝟏 𝟏 𝟏 𝟏 𝟏
𝝉𝟐 = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑪𝟐 + 𝑳𝟐 𝟐 𝜽ሷ 𝟏 + 𝒎𝟐 𝑳𝟐 𝟐 𝜽ሷ 𝟐 + 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟏 + 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟑 𝟑 𝟐 𝟐

 𝝉𝟏 = 𝑴𝟏𝟏 𝜽ሷ 𝟏 + 𝑴𝟏𝟐 𝜽ሷ 𝟐 + 𝑯𝟏 + 𝑮𝟏 and

 𝝉𝟐 = 𝑴𝟐𝟏 𝜽ሷ 𝟏 + 𝑴𝟐𝟐 𝜽ሷ 𝟐 + 𝑯𝟐 + 𝑮𝟐
𝟏 𝟐 𝟏 𝟐
 Where 𝑴𝟏𝟏 = 𝒎𝟏 + 𝒎𝟐 𝑳 𝟏 + 𝒎𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 + 𝒎 𝑳
𝟑 𝟑 𝟐 𝟐
𝟏 𝟏
 𝑴𝟏𝟐 = 𝑴𝟐𝟏 = 𝒎𝟐 𝑳 𝟏 𝑳 𝟐 𝑪𝟐 + 𝟑 𝑳 𝟐 𝟐
𝟐
𝟏
 𝑴𝟐𝟐 = 𝟑 𝒎𝟐 𝑳𝟐 𝟐
𝟏
 𝑯𝟏 = − 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟏 𝜽ሶ 𝟐 − 𝟐 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟐
𝟏 𝟏
 𝑮𝟏 = 𝟐
𝒎𝟏 + 𝒎𝟐 𝒈𝑳𝟏 𝑪𝟏 + 𝟐 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐

𝟏 𝟏
 𝑯𝟐 = 𝒎𝟐 𝑳𝟏 𝑳𝟐 𝑺𝟐 𝜽ሶ 𝟐 𝟏  𝑮𝟐 = 𝒎𝟐 𝒈𝑳𝟐 𝑪𝟏𝟐
𝟐 𝟐
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 These coefficients are defined as

 𝑴𝒊𝒊 = effective inertia,

 𝑴𝒊𝒋 = effective coupling inertia,

 𝑯𝒊 = centrifugal and Coriolis acceleration forces

 This direct formulation approach becomes quite cumbersome

when a manipulator with more than 𝟐 − 𝑫𝑶𝑭 is analyzed.

 Hence the derivation of EOM for an 𝒏 − 𝑫𝑶𝑭 manipulator, based

on homogeneous coordinate transformation matrices is required.
THANK YOU
Lecture 24 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus