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Stefano Stramigioli
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Contents
1D Mechanics: as introduction 3D Mechanics Points, vectors, line vectors screws Rotations and Homogeneous matrices Screw Ports
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1D Mechanics
Stefano Stramigioli
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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Mass
Energy
Co-Energy
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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.
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Mass-Spring System
Spring
Mass
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Together.
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Or in image representation
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Combining
Finally
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Stefano Stramigioli
Norm (distance)
Orthogonality of
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Coordinate Systems
A coordinate system is composed of an origin and 3 linear independent free vectors:
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Coordinates
Coordinates are real numbers: For (points)
For
(vectors)
Coordinate Mappings
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Change of coordinates
A change of coordinates from can be expressed with: to
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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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In 20-SIM Y=Skew(X)
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Rotations
Stefano Stramigioli
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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Rotations in 2D
Given
We have that
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and since in
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Conclusion
Rotation Matrix
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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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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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Theorem
If
of time,
is a differentiable function
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Angular velocities
This implies that
Remember:
such that:
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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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Lie Groups
Common Space thanks to 1/29/2013 Semester on Control, Lie group structure Barcelona 2005
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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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Dual Space
For any finite dimensional vector space we can define the space of linear operators from that space to
co-vector
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are identifiable
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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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General Motions
Stefano Stramigioli
General Motions
where
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Homogeneous Matrices
Due to the group structure of it is easy to compose changes of coordinates in rotations
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Projective space
Improper hyperplane
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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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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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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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Tilde operator
In 20-SIM Y=Tilde(X)
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The following are often called twists too, but they are no geometrical entities !
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SE(3) is a Group
It is a Group because
Associativity
Identity Inverse
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where
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Lie Groups
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Intuition of Twists
Consider a point fixed in :
where
and
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Possible Choices
For the twist of we consider possibilities with respect to and we have 2
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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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Possible Choices
and
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Chasle's Theorem and intuition of a Twist Any twist can be written as:
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and
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Examples of Twists
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Examples of Twists
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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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Charles Theorem
Poinsot Theorem
The inversion of the upper and lower part corresponds to the use of the Klijn form
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Measured Wrench
6D sensor
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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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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
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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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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
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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Stefano Stramigioli
Rigid bodies
A rigid Body is characterised by a (0,2) tensor called Inertia Tensor: and we can then define the momentum screw:
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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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..
we get
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and since
we have that
Momentum dynamics
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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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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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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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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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Geometric Springs
Stefano Stramigioli
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:
Spatial Springs
where
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where
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Interconnection port
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Kinematic Pairs
Stefano Stramigioli
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
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Actuators ports
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Mechanism Topology
Stefano Stramigioli
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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Primary Graph
The Primary graph is characterised by the Incedence Matrix
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Lagrangian Tree
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`Power Continuity
Power continuity !
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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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