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ESCUELA DE POSGRADO
UNIDAD DE POSGRADO DE LA FACULTAD DE INGENIERÍA ELÉCTRICA Y
ELECTRÓNICA
TRABAJO N° 2
TEMA:
APLICACIÓN DE LA DINAMICA DE UN ROBOT DE 4 GRADOS DE
LIBERTAD
TEMA:
APLICACIÓN DE LA DINAMICA DE UN ROBOT DE 4 GRADOS DE LIBERTAD
INDICE
El trabajo tiene por objetivo encontrar los parámetros dinámicos de un robot manipulador
de 4 Grados de Libertad de cadena cinemática serial, de los cuales 3 son rotacionales
y 1 es prismático.
Eslabon 1
0
̅̅̅̅̅ 0
Δ𝐶1 = [ 𝐻1]
𝑞1 −
2
𝐼1𝑋𝑋 0 0
𝐼1 = [ 0 𝐼1𝑌𝑌 0 ]
0 0 𝐼1𝑍𝑍
̅̅̅
𝐷1 (𝑞) = 0𝑅1 𝐼1 1𝑅0
𝐴2 + 𝐻12
𝑀 0 0
𝐼1𝑋𝑋 0 0 12
2 2
̅̅̅1 (𝑞) = [ 0 𝐴 + 𝐻1
𝐷 𝐼1𝑌𝑌 0 ]= 0 𝑀 0
0 0 𝐼1𝑍𝑍 12
𝐴2
[ 0 0 𝑀
6]
Sabemos que:
̅̅̅̅̅̅̅
𝐶1 (𝑞) = 𝑃1 (𝑞) + 0𝑅1 ̅̅̅̅̅
∆𝐶1
0
0 1 0 0
̅̅̅̅̅̅̅ 0
𝐶1 (𝑞) = [ 0 ] + [0 1 0] [ 𝐻1]
𝐻1 0 0 1 𝑞1 −
2
0
̅̅̅̅̅̅̅ 0
𝐶1 (𝑞) = [𝐻1 ]
+ 𝑞1
2
Hallamos la matriz jacobiana V:
𝜕𝐶1𝑥 (𝑞) 𝜕𝐶1𝑥 (𝑞) 𝜕𝐶1𝑥 (𝑞) 𝜕𝐶1𝑥 (𝑞)
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶1𝑦 (𝑞) 𝜕𝐶1𝑦 (𝑞) 𝜕𝐶1𝑦 (𝑞) 𝜕𝐶1𝑦 (𝑞)
𝐽𝑣1 (𝑞) =
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶1𝑧 (𝑞) 𝜕𝐶1𝑧 (𝑞) 𝜕𝐶1𝑧 (𝑞) 𝜕𝐶1𝑧 (𝑞)
[ 𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4 ]
0 0 0 0
𝐽𝑣1 (𝑞) = [0 0 0 0]
1 0 0 0
Hallamos la matriz jacobiana W:
1 (𝑞)
𝐽𝑤 = [𝜉1 𝑍𝑜 0 0 0]
Para este caso: 𝜉1 = 0
0 0 0 0
1 (𝑞)
𝐽𝑤 = [ 0 0 0 0]
0 0 0 0
𝐷1 (𝑞) = [𝐽𝑣1 (𝑞)]𝑇 𝑀1 [𝐽𝑣1 (𝑞)] + [𝐽𝑤
1 ̅̅̅1 (𝑞)[𝐽𝑤
(𝑞)]𝑇 𝐷 1
(𝑞)]
𝑀1 0 0 0
𝐷1 (𝑞) = [ 0 0 0 0]
0 0 0 0
0 0 0 0
Eslabón 2
0
̅̅̅̅̅2 = [ 0
Δ𝐶 𝐻2]
𝑑2 −
2
𝐼2𝑋𝑋 0 0
𝐼2 = [ 0 𝐼2𝑧𝑧 0 ]
0 0 𝐼2𝑦𝑦
6𝑅 2 + 𝐻22
𝑀2 0 0
12
𝐼2 = 0 𝑀2𝑅 2 0
6𝑅 2 + 𝐻22
[ 0 0 𝑀2 ]
12
̅̅̅
𝐷2 (𝑞) = 0𝑅 2 𝐼2 2𝑅0
𝐶2 0 −𝑆2 𝐼2𝑋𝑋 0 0 𝐶2 𝑆2 0
̅̅̅2 (𝑞) = [𝑆2
𝐷 0 𝐶2 ] [ 0 𝐼2𝑧𝑧 0 ][ 0 0 −1]
0 −1 0 0 0 𝐼2𝑥𝑥 −𝑆2 𝐶2 0
𝐼2𝑋𝑋 0 0
̅̅̅2 (𝑞) = [ 0
𝐷 𝐼2𝑥𝑥 0 ]
0 0 𝐼2𝑧𝑧
Sabemos que:
̅̅̅̅̅̅̅
𝐶2 (𝑞) = 𝑃2 (𝑞) + 0𝑅 2 ̅̅̅̅̅
∆𝐶2
0
𝐿1 𝐶2 0 −𝑆2
̅̅̅̅̅̅̅ 0
𝐶2 (𝑞) = [ 0 ] + [𝑆2 0 𝐶2 ] [ 𝐻2]
𝐻1 0 −1 0 𝑑2 −
2
𝐻2
𝐿1 − 𝑆2 (𝑑2 − )
2
̅̅̅̅̅̅̅
𝐶2 (𝑞) = 𝐻2
𝐶2 (𝑑2 − )
2
[ 𝐻1 ]
Hallamos la matriz jacobiana V:
𝜕𝐶2𝑥 (𝑞) 𝜕𝐶2𝑥 (𝑞) 𝜕𝐶2𝑥 (𝑞) 𝜕𝐶2𝑥 (𝑞)
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶2𝑦 (𝑞) 𝜕𝐶2𝑦 (𝑞) 𝜕𝐶2𝑦 (𝑞) 𝜕𝐶2𝑦 (𝑞)
𝐽𝑣2 (𝑞) =
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶2𝑧 (𝑞) 𝜕𝐶2𝑧 (𝑞) 𝜕𝐶2𝑧 (𝑞) 𝜕𝐶2𝑧 (𝑞)
[ 𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4 ]
𝐻2
0 −𝐶2 (𝑑2 − )
𝑄
2 0 0
𝐽𝑣 (𝑞) = 0 𝐻2 0 0
0 −𝑆2 (𝑑2 − 2 ) 0 0
[ 0 ]
Hallamos la matriz jacobiana W:
1 (𝑞)
𝐽𝑤 = [𝜉1 𝑍𝑜 𝜉2 𝑍1 0 0]
Para este caso: 𝜉1 = 0, 𝜉2 = 1
0 0 0 0
1 (𝑞)
𝐽𝑤 = [ 0 0 0 0]
0 1 0 0
𝐷2 (𝑞) = [𝐽𝑣2 (𝑞)]𝑇 𝑀2 [𝐽𝑣2 (𝑞)] + [𝐽𝑤
2 ̅̅̅2 (𝑞)[𝐽𝑤
(𝑞)]𝑇 𝐷 2
(𝑞)]
0 0 0 𝐻2
𝐻2 𝐻2 0 −𝐶2 (𝑑2 − 2 ) 0 0
−𝐶2 (𝑑2 − ) − 𝑆2 (𝑑2 − )0
𝐷2 (𝑞) = 2 2 𝑀2 0 𝐻2 0 0
0 0 0 0 −𝑆 (𝑑2 − )
2
2 0 0
[0 0 0] [ 0 ]
0 0 0 𝐼 0 0 0 0 0 0
2𝑋𝑋
0 01
+[ ][ 0 𝐼2𝑥𝑥 0 ] [ 0 0 0 0]
0 0 0
0 0 𝐼2𝑧𝑧 0 1 0 0
0 0 0
0 0 0 0
𝐻2 2
𝐷2 (𝑞) = 0 𝑀2 (𝑑2 − ) + 𝐼2𝑧𝑧 0 0
2
0 0 0 0
[0 0 0 0]
Eslabón 3
0
̅̅̅̅̅3 = [ 0
Δ𝐶 𝐻3]
𝐿2 −
2
𝐼3𝑥𝑥 0 0
𝐼3 = [ 0 𝐼3𝑧𝑧 0 ]
0 0 𝐼3𝑥𝑥
6𝑅 2 + 𝐻32
𝑀3 0 0
12
𝐼3 = 0 𝑀3𝑅2 0
6𝑅2 + 𝐻32
[ 0 0 𝑀3 ]
12
̅̅̅
𝐷3 (𝑞) = 0𝑅 3 𝐼3 3𝑅0
Sabemos que:
̅̅̅̅̅̅̅
𝐶3 (𝑞) = 𝑃3 (𝑞) + 0𝑅 3 ̅̅̅̅̅
∆𝐶3
𝐶2 𝐶3 −𝑆2 𝐶2 𝑆3 0
𝐿1
̅̅̅̅̅̅̅ 0
𝐶3 (𝑞) = [ 𝑑2 ] + [𝐶3 𝑆2 𝐶2 𝑆2 𝑆3 ] [ 𝐻3]
𝐻1 −𝑆3 0 𝐶3 𝐿2 −
2
𝐻3
𝐿1 + 𝐶2 𝑆3 (𝐿2 −
)
2
̅̅̅̅̅̅̅ 𝐻3
𝐶3 (𝑞) = 𝑑2+𝑆2 𝑆3 (𝐿2 − )
2
𝐻3
[ 𝐻1 + 𝐶3 (𝐿2 − 2 ) ]
Hallamos la matriz jacobiana V:
𝜕𝐶3𝑥 (𝑞) 𝜕𝐶3𝑥 (𝑞) 𝜕𝐶3𝑥 (𝑞) 𝜕𝐶3𝑥 (𝑞)
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶3𝑦 (𝑞) 𝜕𝐶3𝑦 (𝑞) 𝜕𝐶3𝑦 (𝑞) 𝜕𝐶3𝑦 (𝑞)
𝐽𝑣3 (𝑞) =
𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4
𝜕𝐶3𝑧 (𝑞) 𝜕𝐶3𝑧 (𝑞) 𝜕𝐶3𝑧 (𝑞) 𝜕𝐶3𝑧 (𝑞)
[ 𝜕𝑞1 𝜕𝑞2 𝜕𝑞3 𝜕𝑞4 ]
𝐽𝑣3 (𝑞) = [ 0, 𝑠𝑖𝑛(𝑞2) ∗ 𝑠𝑖𝑛(𝑞3) ∗ (𝐻3/2 − 𝐿2), −𝑐𝑜𝑠(𝑞2) ∗ 𝑐𝑜𝑠(𝑞3) ∗ (𝐻3/2 − 𝐿2), 0]
[ 0, −𝑐𝑜𝑠(𝑞2) ∗ 𝑠𝑖𝑛(𝑞3) ∗ (𝐻3/2 − 𝐿2), −𝑐𝑜𝑠(𝑞3) ∗ 𝑠𝑖𝑛(𝑞2) ∗ (𝐻3/2 − 𝐿2), 0]
[ 0, 0, 𝑠𝑖𝑛(𝑞3) ∗ (𝐻3/2 − 𝐿2), 0]
Hallamos la matriz jacobiana W:
3 (𝑞)
𝐽𝑤 = [𝜉1 𝑍𝑜 𝜉2 𝑍1 𝜉3 𝑍2 0]
Para este caso: 𝜉1 = 0, 𝜉2 = 1, 𝜉3 = 1
0 0 −𝑆2 0
3 (𝑞)
𝐽𝑤 = [0 0 𝐶2 0]
0 1 0 0
𝐷3 (𝑞) = [𝐽𝑣3 (𝑞)]𝑇 𝑀3 [𝐽𝑣3 (𝑞)] + [𝐽𝑤
3 ̅̅̅3 (𝑞)[𝐽𝑤
(𝑞)]𝑇 𝐷 3
(𝑞)]
0 0 0 0
0 𝐷322 0 0
𝐷3 (𝑞) = [ ]
0 0 𝐷333 0
0 0 0 0
𝐷322 = 𝐼3𝑥𝑥 + (𝐻3^2 ∗ 𝑀3 ∗ 𝑠𝑖𝑛(𝑞3)^2)/4 + 𝐿2^2 ∗ 𝑀3 ∗ 𝑠𝑖𝑛(𝑞3)^2 − 𝐻3 ∗ 𝐿2 ∗ 𝑀3 ∗ 𝑠𝑖𝑛(𝑞3)^2
Eslabón 4
0
̅̅̅̅̅ 0
Δ𝐶4 = [ 𝐻4]
𝐷4 −
2
𝐼4𝑥𝑥 0 0
𝐼4 = [ 0 𝐼4𝑧𝑧 0 ]
0 0 𝐼4𝑥𝑥
𝐻42
𝑀4 0 0
12
𝐼4 = 0 0 0
𝐻42
[ 0 0 𝑀4
12 ]
̅̅̅
𝐷4 (𝑞) = 0𝑅 4 𝐼4 4𝑅0
𝐶2 𝐶3 𝐶4 − 𝑆2 𝑆4 −𝐶4 𝑆3 −𝐶2 𝑆4 − 𝐶3 𝐶4 𝑆2 𝐼4𝑥𝑥 0 0 𝐶2 𝐶3 𝐶4 − 𝑆2 𝑆4 𝐶2 𝐶3 𝐶4 + 𝑆2 𝐶4 −𝐶2 𝑆3
̅̅̅
𝐷4 (𝑞) = [𝐶2 𝐶3 𝐶4 + 𝑆2 𝐶4 −𝑆3 𝑆4 𝐶2 𝑐4 − 𝐶3 𝑆2 𝑆4 ] [ 0 𝐼4𝑧𝑧 0 ][ −𝐶4 𝑆3 −𝑆3 𝑆4 −𝐶3 ]
−𝐶2 𝑆3 −𝐶3 𝑆2 𝑆3 0 0 𝐼4𝑥𝑥 −𝐶2 𝑆4 − 𝐶3 𝐶4 𝑆2 𝐶2 𝑐4 − 𝐶3 𝑆2 𝑆4 𝑆2 𝑆3
Pero 𝐼4𝑧𝑧 = 0
𝐼4𝑥𝑥 𝑆32 𝑆44
𝐼4𝑥𝑥 (𝑆32 𝑆42 − 𝐶32 ) − −𝐼4𝑥𝑥 𝐶3 𝐶4 𝑆3
2
̅̅̅
𝐷4 (𝑞) = − 𝐼4𝑥𝑥 𝑆32 𝑆44
−𝐼4𝑥𝑥 (𝑆32 𝑆42 − 1) −𝐼4𝑥𝑥 𝐶3 𝑆3 𝑆4
2
−𝐼4𝑥𝑥 𝐶3 𝐶4 𝑆3 −𝐼4𝑥𝑥 𝐶3 𝑆3 𝑆4 −𝐼4𝑥𝑥 𝑆32
[ ]
Sabemos que:
̅̅̅̅̅̅̅
𝐶4 (𝑞) = 𝑃4 (𝑞) + 0𝑅 4 ̅̅̅̅̅
∆𝐶4
0
𝐿1 𝐶2 𝐶3 𝐶4 − 𝑆2 𝑆4 −𝐶4 𝑆3 −𝐶2 𝑆4 − 𝐶3 𝐶4 𝑆2
̅̅̅̅̅̅̅ 0
𝐶4 (𝑞) = [ 𝑑2 ] + [ 2 𝐶3 𝐶4 + 𝑆2 𝐶4
𝐶 −𝑆3 𝑆4 𝐶2 𝑐4 − 𝐶3 𝑆2 𝑆4 ][ 𝐻4]
𝐻1 + 𝐻3 −𝐶2 𝑆3 −𝐶3 𝑆2 𝑆3 𝐷4 −
2
𝐻4
𝐿1 − (𝐶2 𝑆4 + 𝐶3 𝐶4 𝑆2 )(𝐷4 −
)
2
̅̅̅̅̅̅̅ 𝐻4
𝐶 4 (𝑞) = 𝑑2 + (𝐶2 𝐶4 − 𝐶3 𝑆2 𝑆4 )(𝐷4 − )
2
𝐻4
[ 𝐻1 + 𝐻3 + 𝑆2 𝑆3 (𝐷4 − 2 ) ]
[ 0, −(𝐷4 − 𝐻4/2) ∗ (𝐶4 ∗ 𝑆2 + 𝐶2 ∗ 𝐶3 ∗ 𝑆4), 𝑆2 ∗ 𝑆3 ∗ 𝑆4 ∗ (𝐷4 − 𝐻4/2), −(𝐷4 − 𝐻4/2) ∗ (𝐶2 ∗ 𝑆4 + 𝐶3 ∗ 𝐶4 ∗ 𝑆2)]
0 0 −𝑆2 𝐶3 𝑆2
4 (𝑞)
𝐽𝑤 = [0 0 𝐶2 𝑆2 𝑆3 ]
0 1 0 𝐶3
𝐷4 (𝑞) = [𝐽𝑣4 (𝑞)]𝑇 𝑀4 [𝐽𝑣4 (𝑞)] + [𝐽𝑤
4 ̅̅̅4 (𝑞)[𝐽𝑤
(𝑞)]𝑇 𝐷 4
(𝑞)]
0 0 0 0
0 𝐷422 𝐷423 𝐷424
𝐷4 (𝑞) = [ ]
0 𝐷432 𝐷433 𝐷434
0 𝐷442 𝐷443 𝐷444
Donde:
𝐷422 = 𝐼4𝑥𝑥 ∗ 𝑆3^2 ∗ 𝑆4^2 + 𝑀4 ∗ (𝐷4 − 𝐻4/2)^2 ∗ (𝐶4 ∗ 𝑆2 + 𝐶2 ∗ 𝐶3 ∗ 𝑆4)^2 + 𝑀4 ∗ (𝐷4 − 𝐻4/2)^2 ∗ (𝐶2 ∗ 𝐶4 − 𝐶3 ∗ 𝑆2
∗ 𝑆4)^2 + 𝐶4^2 ∗ 𝐼4𝑥𝑥 ∗ 𝑆3^2
𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝐷423 = −
4
𝐶3 ∗ 𝑀4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝐷424 = (
4
𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝐷432 = 𝐷423 == −
4
𝐷433 = 𝐼4𝑥𝑥 + (𝐷4^2 ∗ 𝑀4)/2 + (𝐻4^2 ∗ 𝑀4)/8 − (𝐷4 ∗ 𝐻4 ∗ 𝑀4)/2 − (𝐷4^2 ∗ 𝑀4 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4))/2 − (𝐻4^2 ∗ 𝑀4 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4))/8 + (𝐷4 ∗ 𝐻4
∗ 𝑀4 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4))/2
𝐷434 = 0
𝐶3 ∗ 𝑀4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝐷442 = 𝐷424 = (
4
𝐷443 = 𝐷434 = 01
El tensor de inercia total neto del sistema respecto de los ejes de rotación o traslación relativos al referencial
base se obtiene sumando los tensores de cada elemento como
𝑀1 0 0 0
0 𝑑11 𝑑12 𝑑13
𝐷(𝑞) = [ ]
0 𝑑21 𝑑22 𝑑23
0 𝑑31 𝑑32 𝑑33
𝑑11 = 𝑀2 ∗ 𝑅^2 + (𝑀3 ∗ (3 ∗ 𝐻3^2 ∗ 𝑆3^2 + 𝐻3^2 − 12 ∗ 𝐻3 ∗ 𝐿2 ∗ 𝑆3^2 + 12 ∗ 𝐿2^2 ∗ 𝑆3^2 + 6 ∗ 𝑅^2))/12 + 𝑀2 ∗ 𝑆2^2
∗ (𝐷2 − 𝐻2/2)^2 + 𝑀4 ∗ (𝐷4 − 𝐻4/2)^2 ∗ (𝐶4 ∗ 𝑆2 + 𝐶2 ∗ 𝐶3 ∗ 𝑆4)^2 + 𝑀4 ∗ (𝐷4 − 𝐻4/2)^2 ∗ (𝐶2
∗ 𝐶4 − 𝐶3 ∗ 𝑆2 ∗ 𝑆4)^2 + 𝐶2^2 ∗ 𝑀2 ∗ (𝐷2 − 𝐻2/2)^2 + (𝐶4^2 ∗ 𝐻4^2 ∗ 𝑀4 ∗ 𝑆3^2)/12 + (𝐻4^2 ∗ 𝑀4
∗ 𝑆3^2 ∗ 𝑆4^2)/12
𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝑑12 = −
4
𝐶3 ∗ 𝑀4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝑑13 =
4
𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝑑21 = −
4
𝑑22
𝑀3 ∗ (𝐻32 − 4 ∗ 𝐻3 ∗ 𝐿2 + 4 ∗ 𝐿22 + 4 ∗ 𝑅 2 )
=
4
𝑀4 ∗ (12 ∗ 𝐷42 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4) + 3 ∗ 𝐻42 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4) − 12 ∗ 𝐷42 − 5 ∗ 𝐻42 + 12 ∗ 𝐷4 ∗ 𝐻4 − 12 ∗ 𝐷4 ∗ 𝐻4 ∗ 𝑐𝑜𝑠(2 ∗ 𝑞4))
−
24
𝑑23 = 0
𝐶3 ∗ 𝑀4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝑑31 =
4
𝑑32 = 0
𝑀4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
𝑑33 =
4
Energía cinética
1 𝑇
𝐸𝐶 (𝑞, 𝑞̇ ) = 𝑞̇ 𝐷(𝑞)𝑞̇
2
1 1 1 1 1 1 1 1
𝐸𝐶 (𝑞, 𝑞̇ ) = 𝑀1𝑞̇ 12 + 𝑑11 𝑞̇ 22 + 𝑑21 𝑞2̇ 𝑞3̇ + 𝑑31 𝑞2̇ 𝑞4̇ + 𝑑12 𝑞3̇ 𝑞2̇ + 𝑑22 𝑞̇ 32 + 𝑑32 𝑞3̇ 𝑞4̇ + 𝑑13 𝑞4̇ 𝑞2̇
2 2 2 2 2 2 2 2
1 1 2
+ 𝑑23 𝑞4̇ 𝑞3̇ + 𝑑33 𝑞̇ 4
2 2
Siendo
DONDE:
𝑑𝑞𝑖 = 𝑞𝑖̇
Energía potencial
Sabemos que:.
4
𝐸𝑃 (𝑞) = − ∑ 𝑔𝑇 𝑀𝑖 ̅̅̅̅̅̅̅
𝐶𝑖 (𝑞)
𝑖=1
0
Como: 𝑔𝑇 = ( 0 )
−𝑔𝑜
Resolviendio
𝐸𝑝 (𝑞) = − ∑ ∑ 𝑔𝑘 𝑚𝑗 𝑐𝑘𝑗
𝑘=1 𝑗=
Reemplazando y reduciendo:
4 4 4 4 4 3 4
𝜕𝐷𝑖𝑗 (𝑞) 1 𝜕𝐷𝑘𝑗 (𝑞) 𝑖
∑ 𝐷𝑖𝑗 (𝑞)𝑞𝑗̈ + ∑ ∑ 𝑞̇ 𝑘 𝑞̇ 𝑗 − ∑ ∑ 𝑞̇ 𝑘 𝑞̇ 𝑗 + ∑ ∑ 𝑔𝑘 𝑚𝑗 𝐽𝑣𝑘𝑗 + 𝑏𝑖 (𝑞̇ ) = 𝜏𝑖
𝜕𝑞𝑘 2 𝜕𝑞𝑘
𝑗=1 𝑘=1 𝑗=1 𝑘=1 𝑗=1 𝑘=1 𝑗=𝑖
Efectuando en MATLAB:
clear all
clc
%dinamica
syms A go b1 b2 b3 b4 q1 q2 q3 q4 d1 D2 D3 D4 L1 L2 L3 L4 real
syms dq1 dq2 dq3 dq4 d2q1 d2q2 d2q3 d2q4 M1 M2 M3 M4 R H1 H2 H3
H4 real
syms I1xx I1zz I2xx I2zz I3xx I3zz I4xx real
DTJQv=sym('x',[3 4]);
DTJQw=sym('y',[3 4]);
ST=(sym('y',[1 4]));
warning off;
A1=0;A2=L1;A3=L2;A4=0;
a1=0;a2=-90;a3=90;a4=-90;
d1=q1;d2=D2;d3=0;d4=D4;
Q1=0;Q2=q2;Q3=q3;Q4=q4;
X=T01;
X=subs(X,'cos((pi*(q1))/180)','cos(q1)');
X=subs(X,'sin((pi*(q1))/180)','sin(q1)');
X=subs(X,'cos((pi*(q2))/180)','cos(q2)');
X=subs(X,'sin((pi*(q2))/180)','sin(q2)');
X=subs(X,'cos((pi*(q3))/180)','cos(q3)');
X=subs(X,'sin((pi*(q3))/180)','sin(q3)');
X=subs(X,'cos((pi*(q4))/180)','cos(q4)');
X=subs(X,'sin((pi*(q4))/180)','sin(q4)');
T01=X
X=T12;
X=subs(X,'cos((pi*(q1))/180)','cos(q1)');
X=subs(X,'sin((pi*(q1))/180)','sin(q1)');
X=subs(X,'cos((pi*(q2))/180)','cos(q2)');
X=subs(X,'sin((pi*(q2))/180)','sin(q2)');
X=subs(X,'cos((pi*(q3))/180)','cos(q3)');
X=subs(X,'sin((pi*(q3))/180)','sin(q3)');
X=subs(X,'cos((pi*(q4))/180)','cos(q4)');
X=subs(X,'sin((pi*(q4))/180)','sin(q4)');
T12=X
X=T23;
X=subs(X,'cos((pi*(q1))/180)','cos(q1)');
X=subs(X,'sin((pi*(q1))/180)','sin(q1)');
X=subs(X,'cos((pi*(q2))/180)','cos(q2)');
X=subs(X,'sin((pi*(q2))/180)','sin(q2)');
X=subs(X,'cos((pi*(q3))/180)','cos(q3)');
X=subs(X,'sin((pi*(q3))/180)','sin(q3)');
X=subs(X,'cos((pi*(q4))/180)','cos(q4)');
X=subs(X,'sin((pi*(q4))/180)','sin(q4)');
T23=X
X=T34;
X=subs(X,'cos((pi*(q1))/180)','cos(q1)');
X=subs(X,'sin((pi*(q1))/180)','sin(q1)');
X=subs(X,'cos((pi*(q2))/180)','cos(q2)');
X=subs(X,'sin((pi*(q2))/180)','sin(q2)');
X=subs(X,'cos((pi*(q3))/180)','cos(q3)');
X=subs(X,'sin((pi*(q3))/180)','sin(q3)');
X=subs(X,'cos((pi*(q4))/180)','cos(q4)');
X=subs(X,'sin((pi*(q4))/180)','sin(q4)');
T34=X
T02=simplify(T01*T12);
T03=simplify(T01*T12*T23);
T04=simplify(T01*T12*T23*T34);
R01=T01(1:3,1:3);
R02=T02(1:3,1:3);
R03=T03(1:3,1:3);
R04=T04(1:3,1:3);
P01=T01(1:3,4);
P02=T02(1:3,4);
P03=T03(1:3,4);
P04=T04(1:3,4);
CT=[C1 C2 C3 C4]
Q=[q1;q2;q3;q4];
dQ=[dq1;dq2;dq3;dq4]; %Derivadas de qi
d2Q=[d2q1;d2q2;d2q3;d2q4]; %Derivadas segunda de qi
g=[0 0 go]
%Energia cinetica
Ec=(1/2)*dQ'*Dtotal*dQ
%Energia potencial
Ep=[0 0 go]*M1*C1+[0 0 go]*M2*C2+[0 0 go]*M3*C3+[0 0 go]*M4*C4
%Lagrangiano
L=Ec-Ep
JT=[Jv1 Jv2 Jv3 Jv4]
MT=[M1 M2 M3 M4]
bT=[b1 b2 b3 b4];
for i=1:4
S1=0;S2=0;S3=0;S4=0;SS2=0;SS3=0;SS4=0;
for j=1:4
S1=S1+Dtotal(i,j)*d2Q(j);
end
for k=1:4
S2=S2+SS2;
for j=1:4
SS2=SS2+diff(Dtotal(i,j),Q(k))*dQ(k)*dQ(j);
end
end
for k=1:4
S3=S3+SS3;
for j=1:4
SS3=SS3+diff(Dtotal(k,j),Q(i))*dQ(k)*dQ(j);
end
end
S3=(-1/2)*S3;
for k=1:3
S4=S4+SS4;
for j=i:4
JTI=JT(:,4*i-3:4*i);
SS4=SS4+g(k)*JTI(k,j)*MT(j);
end
end
AUX=simplify(S1+S2+S3+S4+bT(i));
ST(i)=AUX;
end
X=ST;
X=subs(X,'cos(q1)','C1');
X=subs(X,'sin(q1)','S1');
X=subs(X,'cos(q2)','C2');
X=subs(X,'sin(q2)','S2');
X=subs(X,'cos(q3)','C3');
X=subs(X,'sin(q3)','S3');
X=subs(X,'cos(q4)','C4');
X=subs(X,'sin(q4)','S4');
X=subs(X,'cos(2*q1)','C11');
X=subs(X,'sin(2*q1)','S11');
X=subs(X,'cos(2*q2)','C22');
X=subs(X,'sin(2*q2)','S22');
X=subs(X,'cos(2*q3)','C33');
X=subs(X,'sin(2*q3)','S33');
X=subs(X,'cos(2*q4)','C44');
X=subs(X,'sin(2*q4)','S44');
disp('la dinamica esta dada por')
ST=X
𝑏1 + 𝑀1 ∗ 𝑑2𝑞1 = 𝑓1
𝑏2 + 𝑑2𝑞2
𝑀3 ∗ (3 ∗ 𝐻32 ∗ 𝑆32 + 𝐻32 − 12 ∗ 𝐻3 ∗ 𝐿2 ∗ 𝑆32 + 12 ∗ 𝐿22 ∗ 𝑆32 + 6 ∗ 𝑅2 )
∗ (𝑀2 ∗ 𝑅2 +
12
2 2
𝐶2 ∗ 𝑀2 ∗ (2 ∗ 𝐷2 − 𝐻2) 𝑀2 ∗ 𝑆2 ∗ (2 ∗ 𝐷2 − 𝐻2)2
2
+ +
4 4
𝑀4 ∗ (𝐶4 ∗ 𝑆2 + 𝐶2 ∗ 𝐶3 ∗ 𝑆4)2 ∗ (2 ∗ 𝐷4 − 𝐻4)2
+
4
𝑀4 ∗ (𝐶2 ∗ 𝐶4 − 𝐶3 ∗ 𝑆2 ∗ 𝑆4)2 ∗ (2 ∗ 𝐷4 − 𝐻4)2 𝐶42 ∗ 𝐻42 ∗ 𝑀4 ∗ 𝑆32
+ +
4 12
2 2 2
𝐻4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4
+ )
12
𝑆33 ∗ 𝑑𝑞2 ∗ 𝑑𝑞3 ∗ (6 ∗ 𝐻32 ∗ 𝑀3 − 12 ∗ 𝐷42 ∗ 𝑀4 − 𝐻42 ∗ 𝑀4 + 24 ∗ 𝐿22 ∗ 𝑀3 + 12 ∗ 𝐷4 ∗ 𝐻4 ∗ 𝑀4 − 24 ∗ 𝐻3 ∗
+
24
𝐶3 ∗ 𝑀4 ∗ 𝑑2𝑞4 ∗ (2 ∗ 𝐷4 − 𝐻4)2 𝑀4 ∗ 𝑆3 ∗ 𝑑𝑞3 ∗ 𝑑𝑞4 ∗ (2 ∗ 𝐷4 − 𝐻4)2
+ −
4 4
𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ 𝑑2𝑞3 ∗ (2 ∗ 𝐷4 − 𝐻4)2 𝐶3 ∗ 𝐶4 ∗ 𝑀4 ∗ 𝑆4 ∗ 𝑑𝑞32 ∗ (2 ∗ 𝐷4 − 𝐻4)2
− − = 𝜏2
4 4
𝑏3 − 𝑑2𝑞3
𝑀4 ∗ (12 ∗ 𝐶44 ∗ 𝐷42 + 3 ∗ 𝐶44 ∗ 𝐻42 − 12 ∗ 𝐷42 − 5 ∗ 𝐻42 + 12 ∗ 𝐷4 ∗ 𝐻4 − 12 ∗ 𝐶44 ∗ 𝐷4 ∗ 𝐻4)
∗(
24
𝑀3 ∗ (𝐻32 − 4 ∗ 𝐻3 ∗ 𝐿2 + 4 ∗ 𝐿22 + 4 ∗ 𝑅2 )
− )
4
𝑆33 ∗ 𝑑𝑞22 ∗ (6 ∗ 𝐻32 ∗ 𝑀3 − 12 ∗ 𝐷42 ∗ 𝑀4 − 𝐻42 ∗ 𝑀4 + 24 ∗ 𝐿22 ∗ 𝑀3 + 12 ∗ 𝐷4 ∗ 𝐻4 ∗ 𝑀4 − 24 ∗ 𝐻3 ∗ 𝐿2 ∗ 𝑀
−
24
𝑀4 ∗ 𝑆3 ∗ 𝑑𝑞2 ∗ 𝑑𝑞4 ∗ (2 ∗ 𝐷4 − 𝐻4)2 𝐶4 ∗ 𝑀4 ∗ 𝑆3 ∗ 𝑆4 ∗ 𝑑2𝑞2 ∗ (2 ∗ 𝐷4 − 𝐻4)2
+ −
4 4
𝐶3 ∗ 𝐶4 ∗ 𝑀4 ∗ 𝑆4 ∗ 𝑑𝑞2 ∗ 𝑑𝑞3 ∗ (2 ∗ 𝐷4 − 𝐻4)2
+ = 𝜏3
8
𝑀4∗𝑑2𝑞4∗(2∗𝐷4 – 𝐻4)2 𝐶3∗𝑀4∗𝑑2𝑞2∗(2∗𝐷4 – 𝐻4)2 𝑀4∗𝑆44∗𝑑𝑞32 ∗(2∗𝐷4 – 𝐻4)2 𝑀4∗𝑆32 ∗𝑆44∗𝑑𝑞22 ∗(2∗𝐷4 – 𝐻4)2
𝑏4 + + − + −
4 4 8 4
𝑀4∗𝑆3∗𝑑𝑞2∗𝑑𝑞3∗(2∗𝐷4 – 𝐻4)2 3∗𝐶44∗𝑀4∗𝑆3∗𝑑𝑞2∗𝑑𝑞3∗(2∗𝐷4 – 𝐻4)2
+ = 𝜏4
4 8
Donde