app6

Appendix 6
Recursive equations between the energy

functions
In this appendix, we establish the recursive equation between the energy functions of the
inertial parameters of two consecutive links in an open loop structure (serial or tree structured
robots).
A6.1. Recursive equation between the kinetic energy functions of serial robots
The kinetic energy of link j can be written using equation [9.19] as:
[A6.11
with:
tA6.2)
'i = LSJ
and:
Mjl3 -JMSJ
jjj = [A6.3]
JMSj JJj
The recursive equation of the kinematic screw is written using equation [9.22] as:
JVj=iTj.,i->Vj.,+qjJ|.j [A6.4]
422 Modeling, identification and control of robots
where Jfij is defined by equation [9.23a].
The kinetic energy of link j is linear in the inertial parameters of link j. Consequently, it
can be written as:
Ej = Cj Kj [A6.5]
where Cj is the (1x10) row matrix containing the energy functions of die inertial parameters of
link j. TTie parameters of link j are given by:
Kj = [ XXj XYj XZj YYj YZj ZZj MXj MYj MZj Mj f [A6.6]
By substituting for JVj from equation [A6.4] into equation [A6.1], we obtain:
Ej = l(Jirj.i i'%x + qj iap'îjj (iTj.i i->Vj.i + qj inj) [A6.7]
Developing equation [A6.7] gives:
Ej = jJ-^vJi (JTTJ,ijjiTj.i)J->Vj.i + qj i a p j j J V j - | q j i | i j J J j iftj [A6.81
Let us set:
i'Uj = JTrJ,JJIjiTj.i [A6.9]
qj r\j JKj = i^JiJj iVj - ^ qj iîjj Jtij [A6. lOJ
where the row vector T^J is given by:
nj=aj[0 0 (Oij 0 a)2j ((03j-2^P ^2.j "Û ^ ^1 •»*
OjIO 0 0 0 0 0 -0)2j toij 0 (Vsj-^qj)] IA6.111
with:
iVj = [ V , j V2.j V3jf
j©) = (Wlj (02 j (03 j f
Equation [A6.9] transfonns the inertial parameters of link j from frame Rj into frame
Rj.l. It can be written as:
Recursive equations between the energy functions 423
i'% =J->XjJKj [A6.12J
The expression of J'^Xj is obtained by comparing equations [A6.9] and [A6.12]. It is

given in Table 9.1 for serial robots.
Using equations [A6.5], [A6.9]» [A6.10] and [A6.12]» we rewrite equation [A6.8] as
follows:
Ej = (ej.iJ-Âj4qjf»j)Kj [A6.13]
Finally, from equations [A6.5] and [A6.13], we deduce that:
ej = Cj.ii-^Xj-»-qjT)j [A6.14]
witheo = Oixio.
A6.2. Recursive equation between the potential energy functions of serial robots
The potential energy of link j is written as (equation [9.25b]):
Uj = - V [^j Mj + % JMSjl [A6.15]
where ^g = [ El S2 83 ] indicates the acceleration due to gravity.
This expression is linear in the inertial parameters. It can be written as:
Uj=:UjKj [A6.16]
Using equations [A6.15] and [A6.12], we can write that:
Uj = g u % K j [A6.17]
where:
gu = [ 01x6 ~ V 0 1 [A6.181
From equation [A6.17], we deduce that:
Uj = g^% (A6.19]
Since ^ j = ^ j . | i'^Xj, we obtain the following recursive equation for the potential
energy functions:
424 Modeling, identification and control of robots
(A6.20]
with UQ = gu-
A63. Recursive equation between the total energy functions of serial robots
The total energy of link j is written as:
Hj = Ej + Uj = (Cj + Uj) Kj = hj Kj [A6.21]
with:
hj = ej-»-Uj [A6.22]
From equations [A6.14] and [A6.20], we obtain the following recursive equation:
hj - h j . , H X j + qjTlj [A6.23J
with ho = gu
A6.4. Expression of ^(i^Xj in the case of the tree structured robot
In the case of the tree structured robot, equation [A6.23] is valid after replacing j - 1 by
i= a(j)- The (10x10) matrix *Aj represents the matrix transforming the inertial parameters Kj
from frame Rj to frame Rj and can be obtained by developing the following equation:
ijj = JTj JJfjiTi [A6.24]
which is equivalent to:
'Kj = 'XjiKj [A6.25]
By comparing equations [A6.24] and [A6.25], we obtain the expressions of the elements
of 'Arj in terms of the elements of the matrix ^Tj, which are functions of the geometric
parameters (YJ, bj, otj, dj, 6j, rj) defming frame Rj relative to frame Rj (Chapter 7), as follows:
' Xll XI2 A.13

iXj = ©3x6 'Aj iPj [A6.26]
. 0ix6 Ou3 1
Recursive equations between the energy functions 42S
The dimensions of the n»trices M l , X12 andX13 are (6x6). (6x3) and (6x1) respectively.
To simplify the writing, let:
iAj = [ s n a ] IA6.27)
'Pj = [ P x Py Pz]'" [A6.28]
Thus:
*X*X ^^X"X ^^X"X "X"X ^"X^X "X*X
Sx»y synx+sxny Syax+Sxay n,ny nya^+nây axay

SzSx s^nx+Sxn^ sâx+Sjaj nxn^ nâx+nxa^ aâ,
Xll [A6.29]
SySy 2nySy 2syay nyny 2nyay ayay
SySz Sjny+syn^ ays^+sya, nyn^ nây+nya^ aya^
|_ SjSj, IrijSt 2SA n^n^ 2nia^ aâ^ _J
p 2(SiP3+SyPy) 2(n,P,+nyPy) 2(a,P,+ayPy)

-8yPx-$xPy -nyPx-nxPy -"yPx-axPy
-SzPx-SxPr -nzPx-nxPi -azPx-axPt
X12« tA6.301
2(SzPz+SxPx) 2(n,P^+nxPx) 2(a,Pj+axPx)
-s.Py-SyP, -n,Py-nyP, -a^Py-ayP,
2(SyPy+SxPx) 2(nyPy+nxPx) 2(ayPy+axPx) J
X13 = (PzPz+PyPy "PxPy "PxPz PzPz+PxPx -PzPy PxPx+PyPy ] ^ IA6.31]

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Appendix 6

Recursive equations between the energy

where Jfij is defined by equation [9.23a].

Ej = l(Jirj.i i'%x + qj iap'^ijj (iTj.i i->Vj.i + qj inj) [A6.7]

Developing equation [A6.7] gives:

Ej = jJ-^vJi (JTTJ,ijjiTj.i)J->Vj.i + qj i a p j j J V j - | q j i | i j J J j iftj [A6.81

i'Uj = JTrJ,JJIjiTj.i [A6.9]

qj r\j JKj = i^JiJj iVj - ^ qj i^ijj Jtij [A6. lOJ

where the row vector T^J is given by:

nj=aj[0 0 (Oij 0 a)2j ((03j-2^P ^2.j "^U ^ ^1 •»*

OjIO 0 0 0 0 0 -0)2j toij 0 (Vsj-^qj)] IA6.111

i'% =J->XjJKj [A6.12J

The expression of J'^Xj is obtained by comparing equations [A6.9] and [A6.12]. It is

Finally, from equations [A6.5] and [A6.13], we deduce that:

The potential energy of link j is written as (equation [9.25b]):

Uj = - V [^j Mj + % JMSjl [A6.15]

where ^g = [ El S2 83 ] indicates the acceleration due to gravity.

This expression is linear in the inertial parameters. It can be written as:

Using equations [A6.15] and [A6.12], we can write that:

From equation [A6.17], we deduce that:

The total energy of link j is written as:

Hj = Ej + Uj = (Cj + Uj) Kj = hj Kj [A6.21]

A6.4. Expression of ^(i^Xj in the case of the tree structured robot

ijj = JTj JJfjiTi [A6.24]

which is equivalent to:

'Kj = 'XjiKj [A6.25]

' Xll XI2 A.13

*X*X ^^X"X ^^X"X "X"X ^"X^X "X*X

Sx»y synx+sxny Syax+Sxay n,ny nya^+n^ay axay

p 2(SiP3+SyPy) 2(n,P,+nyPy) 2(a,P,+ayPy)

X13 = (PzPz+PyPy "PxPy "PxPz PzPz+PxPx -PzPy PxPx+PyPy ] ^ IA6.31]

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