ROBOTICS ROBOTICS 01PEEQW 01PEEQW 01PEEQW 01PEEQW Basilio Bona - PowerPoint PPT Presentation

ROBOTICS ROBOTICS 01PEEQW 01PEEQW 01PEEQW 01PEEQW Basilio Bona Basilio Bona DAUIN DAUIN – – Politecnico di Torino Politecnico di Torino

Industrial Robots Industrial Robots Dynamics Dynamics

Dynamics – 1 � Dynamics studies the relations between the task space forces/torques and the joint forces/torques in non-static equilibrium, i.e., in dynamic equilibrium � The dynamic model can be developed applying two main approaches � Lagrange energy functions � Newton-Euler vector force equilibrium � The former is conceptually simpler and will be adopted here � The latter is more efficient for implementation of recursive computer algorithms; only a brief review will be presented in the following slides Basilio Bona - DAUIN - PoliTo 3 ROBOTICS 01PEEQW

Dynamics – 2 � Once the dynamic equations of the robot are obtained from the Lagrange approach Lagrange approach … � The state-space differential equations are derived and used as the robot model � Why the state equations are necessary? � For control algorithms study and design � For control algorithms study and design � For robot simulation � To implement model identification or parameter estimation algorithms Basilio Bona - DAUIN - PoliTo 4 ROBOTICS 01PEEQW

Newton-Euler approach – 1 Basilio Bona - DAUIN - PoliTo 5 ROBOTICS 01PEEQW

Newton-Euler approach – 2 Basilio Bona - DAUIN - PoliTo 6 ROBOTICS 01PEEQW

Newton-Euler approach – 3 Basilio Bona - DAUIN - PoliTo 7 ROBOTICS 01PEEQW

Newton-Euler approach – 4 b c c i i i Basilio Bona - DAUIN - PoliTo 8 ROBOTICS 01PEEQW

Newton-Euler approach – 5 Basilio Bona - DAUIN - PoliTo 9 ROBOTICS 01PEEQW

Newton-Euler approach – 6 Basilio Bona - DAUIN - PoliTo 10 ROBOTICS 01PEEQW