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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Modeling of Robotics Systems (2:30h)

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Why Geometrical Robotics?


In 3D, especially due to the topology of rotations, geometry is important. Coordinates can bring you to WRONG conclusions, tensors (geometry) NOT ! Complex systems need Powerful Tools to be manageable With the right tools 3D can be as simple as 1D !

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Contents
1D Mechanics: as introduction 3D Mechanics Points, vectors, line vectors screws Rotations and Homogeneous matrices Screw Ports

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

1D Mechanics

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

1D Mechanics
In 1D Mechanics there is no geometry for the ports: efforts/Forces and flows/velocities are scalars Starting point to introduce the basic elements for 3D

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Mass

Energy

Co-Energy

where is the momenta and its velocity.


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the applied force


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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

The dynamics Equations The second Law of dynamics is:

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Integral Form Semester on Control, Barcelona 2005 Diff. form

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

The Kernel PCH representation

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Semester on Control, Barcelona port Interconnection 2005

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Spring

Energy

Co-Energy

where is the displacement the applied force to the spring and its relative 1/29/2013 Semester on Control, Barcelona 2005 velocity.

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

The dynamics Equations The elastic force on the spring is:

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Integral Form Semester on Control, Barcelona 2005 Diff. form

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

The Kernel PCH representation

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Semester on Control, Barcelona port Interconnection 2005

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Mass-Spring System
Spring

Mass

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Together.

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Interconnection of the two subsystems (1 junc.)

Or in image representation

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Combining

There exists a left orthogonal


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Finally

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Summary and Conclusions


All possible 1D networks of elements can be expressed in this form Dissipation can be easily included terminating a port on a dissipating element Interconnection of elements still give the same form No geometry In 3D we need a common language for interconnection: Lie groups !
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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

The Basics on Space

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Euclidian Spaces and motions


A 3-dimensional Euclidean space is characterized by a scalar product We can consider the relative position of as a vector :

The set of these free-vectors will be indicateds with


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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Notation and concepts


Scalar Product

Norm (distance)

Orthogonality of

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Notation and concepts (cont.)


Angles between vectors

Conclusion All concepts defined using only the scalar product.

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Coordinate Systems
A coordinate system is composed of an origin and 3 linear independent free vectors:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Coordinate Systems (cont.)


A Coordinate System is ortho-normal iff

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Coordinates
Coordinates are real numbers: For (points)

For

(vectors)

We will use often the following notation:


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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Coordinate Mappings

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Change of coordinates
A change of coordinates from can be expressed with: to

Which is a mapping like

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Orientation
The vector product operation often used in mechanics, is NOT as often thought an extra structure/operation defined, but it is only a consequence of the Lie group structure of motions:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Tilde Operator (Notation) We will often use the following notation

In 20-SIM Y=Skew(X)
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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Rotations

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Approach
We will first introduce change of coordinates for rotated frames 2D 3D Relate changes of coordinates to motion of objects

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Rotations in 2D
Given

What is the relation of the coordinates of in and in ?


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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

We have that

Or equivalently With Similarly, for , we have

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

and since in

, using the expression of , we have that

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Conclusion

Rotation Matrix

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Remarks
Due to the fact we are considering righthanded orthonormal frames: 1. 2. 3. The columns and row vectors of length 1 and they are orthogonal

have

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

3D Rotation
In 3D, if the coordinates we use are all right handed, we have for a general rotation around the origin:

Basis of
Basis of
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espressed in
espressed in
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Example
A rotation around the y axis would be

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Special Orthonormal Group


A square matrix such that is called orthonormal. The group of orthonormal matrices with determinant 1 is called Special Orthonormal group of and indicated as:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Theorem
If

of time,

is a differentiable function

and are Skew-Symmetric and belonging to

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Angular velocities
This implies that

Remember:

such that:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

is a Lie algebra
The linear combination of skew-symmetric matrices is still skew-symmetric To each matrix we can associate a vector such that It is a vector space

It is a Lie Algebra !!
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SO(3) is a Group
It is a Group because

Associativity
Identity Inverse

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It is a Lie Group (group AND manifold)


where

where Lie Algebra Commutator

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Lie Groups

Common Space thanks to 1/29/2013 Semester on Control, Lie group structure Barcelona 2005

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Why is the Lie group structure so important?

It makes it possible to talk about motion without knowing the pose of the object! We can get rid of any dependency from configuration: ESSENTIAL to talk about interconnection throw Power Ports of bodies with different poses.

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Dual Space
For any finite dimensional vector space we can define the space of linear operators from that space to

co-vector
The space of linear operators from to (dual space of ) is indicated with 1/29/2013 Semester on Control, Barcelona 2005

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

In our case we have

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Other Rotations Representations


Generalized angles: Euler, Bryan etc. (singularity positions and NOT geometric Quaternions:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Other Rotations Representations


matrix Lie group of unitary matrices of determinant +1

Unit Quaternions and with points of a 3-sphere


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are identifiable

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Double Covering of
The quaternions and double cover

Quaternions and are simply connected is connected but NOT simply connected: see the Dirac Belt Trick ! is one of the few examples of a NON simply connected manifolds WITHOUT holes!
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About the topology of rotations

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

General Motions

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

General Motions

It can be seen that in general, for right handed frames

where

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Homogeneous Matrices
Due to the group structure of it is easy to compose changes of coordinates in rotations

Can we do the same for general motions ?

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Projective space

Improper hyperplane

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Motions versus Coordinate Changes


A rigit motion is a map like:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Features of motions

must be both: Isometry: it does not change the distance between points. Orientation preserving: it does not change the orientation: swap the z axis.

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Connection with coordinate changes

we want that the moved points in the moved coordinate system have the same coordinates than the original points in the original coordinate system :

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

But is the same as:

The representation of the motion from 1 to 2 in the coordinate 1 (1 o h o 1-1) is the INVERSE of the coordinate change from 1 to 2 (2 o 1-1).
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Theorem
If of time is a differentiable function

belong to

where

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Tilde operator
In 20-SIM Y=Tilde(X)

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Elements of se(3): Twists


The following are vector and matrix coordinate notations for twists:

The following are often called twists too, but they are no geometrical entities !

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

SE(3) is a Group
It is a Group because

Associativity
Identity Inverse

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SE(3) is a Lie Group (group AND manifold)


where

where Lie Algebra Commutator

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Lie Groups

Common Space independent on H thanks to Lie group structure


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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Intuition of Twists
Consider a point fixed in :

and consider a second reference

where

and
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For each of the points in the body

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Possible Choices
For the twist of we consider possibilities with respect to and we have 2

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Left and Right Translations

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Remarks
The twists are a description independent of H and have a pure geometrical interpretation.

Being independent on configuration, they will be the key to interconnection between parts with different configurations

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Possible Choices

and

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Notation used for Twists


For the motion of body with respect to body expressed in the reference frame we use or

The twist is an across variable !


Point mass Rigid body
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geometric free-vector geometric screw + Magnitude


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Chasle's Theorem and intuition of a Twist Any twist can be written as:

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Calculation of geometrical screw from (,v)

Supposing r perpendicular to omega , it is furthermore possible to see that:

and

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Examples of Twists

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Examples of Twists

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Changes of Coordinates for Twists


It can be proven that

In 20-SIM

S=Adjoint(H)
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in Matrix form

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Wrenches
Twists belong geometrically to Wrenches are DUAL of twist: Wrenches are co-vectors and NOT vectors: linear operators from Twists to Power Using coordinates:

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Poinsot's Theorem and intuition of a Wrench Any wrench can be written as:

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Chasles vs. Poinsot

Charles Theorem

Poinsot Theorem
The inversion of the upper and lower part corresponds to the use of the Klijn form

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Vectors, Screws as Forces Forces and Wrenches are co-vectors, but:


Euclidean metric vector interpretation of a Force Kleins form screw interpretation of a Wrench That is identification of dual spaces.
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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example of the use of a Wrench


Finding the contact centroid
Contact Point (Center of Pressure)

Measured Wrench
6D sensor

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Transformation of Wrenches
How do wrenches transform changing coordinate systems? We have seen that for twists:

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Changes of coordinates

MTF
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Implicit relation
Dirac Structure!
MTF

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Conclusions
Coordinate free interpretation of motion can be related to twists, element of the Lie albebra se(3) Dual elements are called wrenches and they also have a coordinate free interpretation thanks to the Hyperbolic form. The pairing of this two items will be the kern for interconnection

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Power Port
A

belong to vector spaces in duality: such that there exists a bilinear operator

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Finite dimensional case


If is finite dimensional defined, namely is uniquely

where indicates the uniquely defined set of linear operators from to Elements of
Elements of
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are vectors
are co-vectors
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In Robotics

Is the v.s. of Twists

Is the v.s. of Wrenches

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Remarks
A geometrical (coordinate free) way to talk about instantaneous motion is using a Twist and about a system of forces is a Wrench Twists and Wrenches are geometrically a screw (motor): line-bounded-vector (rotor)+pitch. Twists and Wrenches are dual and can be used to define a power-port

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Power and Inf. Dim Case


A

represents the instantaneous power flowing from A to B For inf.dim. systems they belong to k and (n-k) (Lie-algebra-valued) forms

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Dynamics

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Contents

time derivative
Rigid Body dynamics Spatial Springs Kinematic Pairs Mechanism Topology

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time derivative
is function of time It can be proven that

where

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Transformations of If we have like? ,how does look

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It can be shown that in general

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Rigid Bodies Dynamics

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Rigid bodies
A rigid Body is characterised by a (0,2) tensor called Inertia Tensor: and we can then define the momentum screw:

where the Kinetic energy is

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Generalization of Newtons law


In an inertial frame, for a point mass we had

This can be generalized for rigid bodies

Where Ni0 is the moment of body i expressed in the inertial frame 0 . That is why momenta is a co-vector !!
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And in body coordinates ?

Using the derivative of AdH

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..

multiplying on the left for

we get

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and since

we have that

and we eventually obtain


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Momentum dynamics

which is called Lie-Poisson reduction. NOTE: No information on configuration !

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Screw Port representation (Bondgraph)

1 1.1
T1_10

MGY

1
1.2

H1_0

MTF
1.3

Ad1_0

stored
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Cs
1.4

1
T1_00

=0 !
F

T100

input
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Relation to what known


Expressing the previous equation in the principal inertial frame k we obtain:

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Other form
Defining which is linear and anti-symmetric

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Port-Hamiltonian form

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Port-Hamiltonian form
Modulation Storage port

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Interconnection port
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Rotational Dynamics in more details

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example: Ellipsoid Dynamics


Semi-axis lengths=

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Example: Elipsoid Dynamics (cont.)


In SI Units:

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If no external torque is applied


Note: in what follows P indicates angular momenta, NOT homogeneous position

If no torques are applied:

Square of angular momentum in body coordinate is also conserved!!


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Momentum conservation

These are the equation of a sphere in the body coordinate momentum frame
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Energy conservation

Ellipsoid!
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Orbits of the momentum


Conservation of momentum Casimir !

Body coords!! sphere

Conservation of energy
ellipsoid

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Orbit Sphere With the intersection of the sphere and ellipsoid we obtain the famous plot:

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Rotation around the biggest inertia

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Rotation around middle inertia

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Rotation around smallest inertia

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Geometric Springs

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Spatial Springs
If, by means of control, we define a 3D spring using a parameterization like Euler angles, we do not have a geometric description of the spring: no information about the center of compliance, instead:

Morse Theory 4 cells: 1 stable+3 unstable points


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Spatial Springs

where
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where

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For Constant Spatial Spring


It could be shown that: Storage port

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Interconnection port
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Kinematic Pairs

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Kinematic Pair A n-dof K.P. is an ideal constraint between 2 rigid bodies which allows n independent motions For each relative configuration of the bodies we can define Allowed subspace of dimension n Actuation subspace of dimension n
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Decomposition of

and

!
n

6-n

6-n

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Representations of subspaces

To satisfy power continuity

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And in the Kernel Dirac representation


Interconnection port

Actuators ports
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Mechanism Topology

Stefano Stramigioli

II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Network Topology
Interconnection of q rigid bodies by n nodic elements (kinematic pairs, springs or dampers). We can dene the Primary Graph describing the mechanism and than: Port connection graph= Lagrangian tree + Primary Graph

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Primary Graph

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Primary Graph
The Primary graph is characterised by the Incedence Matrix

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Lagrangian Tree

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

Fundamental Loop Matrix

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Fundamental Cut-set Matrix

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II Geoplex-EURON Summer School Bertinoro, (I) 18-22 July 2005

`Power Continuity

Power continuity !

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Mechanism Dirac Structure

Power Ports Rigid Bodies

Power Ports Nodic Elements


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Further Steps

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Conclusions Any 3D part can be modeled in the Dirac framework Any interconnection also ! In this case the ports have a geometrical structures: no scalars ! Some steps still to go to bring the system in explicit form A lot of extensions are possible Not trivial to bring everything in simplified explicit form
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