{ "cells": [ { "cell_type": "markdown", "metadata": { "id": "view-in-github", "colab_type": "text" }, "source": [ "\"Open" ] }, { "cell_type": "markdown", "metadata": { "id": "uR3cXokfwmR6" }, "source": [ "# Kinematic chain in a plane (2D)\n", "\n", "> Marcos Duarte, Renato Naville Watanabe \n", "> [Laboratory of Biomechanics and Motor Control](https://bmclab.pesquisa.ufabc.edu.br/) \n", "> Federal University of ABC, Brazil" ] }, { "cell_type": "markdown", "metadata": { "toc": true, "id": "IdBezYFLwmR8" }, "source": [ "

Contents

\n", "
" ] }, { "cell_type": "markdown", "metadata": { "id": "NrafWrmjwmR9" }, "source": [ "## Introduction\n", "\n", "
\n", "\n", "**Kinematic chain refers to an assembly of rigid bodies (links) connected by joints that is the mathematical model for a mechanical system which in turn can represent a biological system such as the human body** ([Wikipedia](https://en.wikipedia.org/wiki/Kinematic_chain)). \n", "\n", "The term chain refers to the fact that the links are constrained by their connections (typically, by a hinge joint which is also called pin joint or revolute joint) to other links. As consequence of this constraint, a kinematic chain in a plane is an example of circular motion of a rigid object.\n", "\n", "Chapter 16 of Ruina and Rudra's book and chapter 2 of the Rade's book are a good formal introduction on the topic of circular motion of a rigid object anmd sections 2.7 and 2.8 of Rade's book covers specifically kinematic chains. However, in this notebook we will not employ the mathematical formalism introduced in those chapters - the concept of a rotating reference frame and the related rotation matrix - we cover these subjects in the notebook [Rigid-body transformations (2D)](https://nbviewer.jupyter.org/github/BMClab/BMC/blob/master/notebooks/Transformation2D.ipynb). \n", "\n", "Here, we will describe the kinematics of a chain in a Cartesian coordinate system using solely trigonometry and calculus. This approach is simpler and more intuitive but it gets too complicated for a kinematic chain with many links or in the 3D space. For such more complicated problems, indeed it would be recommended using rigid transformations (see for example, Siciliano et al. (2009)). \n", "\n", "We will deduce the kinematic properties of kinematic chains algebraically using [Sympy](http://sympy.org/), a Python library for symbolic mathematics. In Sympy, we could have used the [mechanics module](http://docs.sympy.org/latest/modules/physics/mechanics/index.html), a specific module for creation of symbolic equations of motion for multibody systems, but let's deduce most of the stuff by ourselves to understand the details. \n", "\n", "

Figure. The human body modeled as a kinematic chain (image from Wikipedia).

" ] }, { "cell_type": "markdown", "metadata": { "id": "5ppCqsknwmR-" }, "source": [ "## Properties of kinematic chains\n", "\n", "For a kinematic chain, the **base** is the extremity (origin) of a kinematic chain which is typically considered attached to the ground, body or fixed. The **endpoint** is the other extremity (end) of a kinematic chain and typically can move. In robotics, the term **end-effector** is used and usually refers to a last link (rigid body) in this chain.\n", "\n", "In topological terms, a kinematic chain is termed **open** when there is only one sequence of links connecting the two ends of the chain. Otherwise it's termed **closed** and in this case a sequence of links forms a loop. A kinematic chain can be classified as **serial** or **parallel** or a **mixed** of both. In a serial chain the links are connected in a serial order. A serial chain is an open chain, otherwise it is a parallel chain or a branched chain (e.g., hand and fingers). \n", "\n", "Although the definition above is clear and classic in mechanics, it is not the definition used by health professionals (clinicians and athletic trainers) when describing human movement. They refer to human joints and segments as a closed or open kinematic (or kinetic) chain simply if the distal segment (typically the foot or hand) is fixed (closed chain) or not (open chain). This difference in definition sometimes will result in different classifications. For example, a person standing on one leg is an open kinematic chain in mechanics, but closed according to the latter definition. In this text we will be consistent with mechanics, but keep in mind this difference when interacting with clinicians and athletic trainers.\n", "\n", "Another important term to characterize a kinematic chain is **degree of freedom (DOF)**. In mechanics, the degree of freedom of a mechanical system is the number of independent parameters that define its configuration or that determine the state of a physical system. A particle in the 3D space has three DOFs because we need three coordinates to specify its position. A rigid body in the 3D space has six DOFs because we need three coordinates of one point at the body to specify its position and three angles to to specify its orientation in order to completely define the configuration of the rigid body. For a link attached to a fixed body by a hinge joint in a plane, all we need to define the configuration of the link is one angle and then this link has only one DOF. A kinematic chain with two links in a plane has two DOFs, and so on.\n", "\n", "The **mobility** of a kinematic chain is its total number of degrees of freedom. The **redundancy** of a kinematic chain is its mobility minus the number of degrees of freedom of the endpoint." ] }, { "cell_type": "markdown", "metadata": { "id": "CWHi7Z2AwmR-" }, "source": [ "## The kinematics of one-link system\n", "\n", "First, let's study the case of a system composed by one planar hinge joint and one link, which technically it's not a chain but it will be useful to review (or introduce) key concepts. \n", "
\n", "
\"onelink\"/
Figure. One link attached to a fixed body by a hinge joint in a plane.
\n", "\n", "First, let's import the necessary libraries from Python and its ecosystem:" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:00:47.744805Z", "start_time": "2020-11-03T23:00:46.900135Z" }, "id": "l23RU8EbwmR_" }, "outputs": [], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt\n", "import seaborn as sns\n", "sns.set_context(\"notebook\", font_scale=1.2, rc={\"lines.linewidth\": 2,\n", " \"lines.markersize\": 10})\n", "from IPython.display import display, Math\n", "from sympy import Symbol, symbols, Function, Matrix, simplify, lambdify, expand, latex\n", "from sympy import diff, cos, sin, sqrt, acos, atan2, atan, Abs\n", "from sympy.vector import CoordSys3D\n", "from sympy.physics.mechanics import dynamicsymbols, mlatex, init_vprinting\n", "init_vprinting()" ] }, { "cell_type": "markdown", "metadata": { "id": "zUyb0eTPwmR_" }, "source": [ "We need to define a Cartesian coordinate system and the symbolic variables, $t$, $\\ell$, $\\theta$ (and make $\\theta$ a function of time):" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:05:42.962524Z", "start_time": "2020-11-03T23:05:42.959723Z" }, "id": "bodfsY_5wmSA" }, "outputs": [], "source": [ "G = CoordSys3D('')\n", "t = Symbol('t')\n", "l = Symbol('ell', real=True, positive=True)\n", "# type \\theta and press tab for the Greek letter θ:\n", "θ = dynamicsymbols('theta', real=True) # or Function('theta')(t)" ] }, { "cell_type": "markdown", "metadata": { "id": "lVeAYjlLwmSA" }, "source": [ "Using trigonometry, the endpoint position in terms of the joint angle and link length is:" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:05:46.157963Z", "start_time": "2020-11-03T23:05:46.023862Z" }, "id": "yMTQZbrJwmSA", "outputId": "c7848ebe-07b3-438a-fcf9-2d6060153c89", "colab": { "base_uri": "https://localhost:8080/", "height": 40 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "(ell⋅cos(θ)) i_ + (ell⋅sin(θ)) j_" ], "text/latex": "$\\displaystyle \\left(\\ell \\cos{\\left(\\theta \\right)}\\right)\\mathbf{\\hat{i}_{}} + \\left(\\ell \\sin{\\left(\\theta \\right)}\\right)\\mathbf{\\hat{j}_{}}$" }, "metadata": {}, "execution_count": 3 } ], "source": [ "r_p = l*cos(θ)*G.i + l*sin(θ)*G.j + 0*G.k\n", "r_p" ] }, { "cell_type": "markdown", "metadata": { "id": "IYX4OU4wwmSB" }, "source": [ "With the components:" ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:06:09.846336Z", "start_time": "2020-11-03T23:06:09.709499Z" }, "id": "wWWBiB_TwmSB", "outputId": "6d8b5ef8-9e4e-479b-ad98-76c4d3e17fab", "colab": { "base_uri": "https://localhost:8080/", "height": 47 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "{i_: ell⋅cos(θ), j_: ell⋅sin(θ)}" ], "text/latex": "$\\displaystyle \\left\\{ \\mathbf{\\hat{i}_{}} : \\ell \\cos{\\left(\\theta \\right)}, \\ \\mathbf{\\hat{j}_{}} : \\ell \\sin{\\left(\\theta \\right)}\\right\\}$" }, "metadata": {}, "execution_count": 4 } ], "source": [ "r_p.components" ] }, { "cell_type": "markdown", "metadata": { "id": "LGtwUfFbwmSB" }, "source": [ "### Forward and inverse kinematics\n", "\n", "Computing the configuration of a link or a chain (including the endpoint location) from the joint parameters (joint angles and link lengths) as we have done is called [**forward or direct kinematics**](https://en.wikipedia.org/wiki/Forward_kinematics).\n", "\n", "If the linear coordinates of the endpoint position are known (for example, if they are measured with a motion capture system) and one wants to obtain the joint angle(s), this process is known as [**inverse kinematics**](https://en.wikipedia.org/wiki/Inverse_kinematics). For the one-link system above:\n", "
\n", " \n", "\\begin{equation}\n", " \\theta = \\arctan\\left(\\frac{y_P}{x_P}\\right)\n", "\\end{equation}\n", "" ] }, { "cell_type": "markdown", "metadata": { "id": "WyKjXy4GwmSC" }, "source": [ "### Matrix representation of the kinematics\n", "\n", "The mathematical manipulation will be easier if we use the matrix formalism (and let's drop the explicit dependence on $t$):" ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:15.472258Z", "start_time": "2020-11-03T23:27:15.339992Z" }, "id": "ckQ5l5sqwmSC", "outputId": "60f2d513-0b1e-4e24-e610-561a1b2c875a", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ell⋅cos(θ)⎤\n", "⎢ ⎥\n", "⎣ell⋅sin(θ)⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}\\ell \\cos{\\left(\\theta \\right)}\\\\\\ell \\sin{\\left(\\theta \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 5 } ], "source": [ "r = Matrix((r_p.dot(G.i), r_p.dot(G.j)))\n", "r" ] }, { "cell_type": "markdown", "metadata": { "id": "T7Huo8hrwmSC" }, "source": [ "Using the matrix formalism will simplify things, but we will loose some of the Sympy methods for vectors (for instance, the variable `r_p` has a method `magnitude` and the variable `r` does not. \n", "If you prefer, you can keep the pure vector representation and just switch to matrix representation when displaying a variable:" ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:17.260232Z", "start_time": "2020-11-03T23:27:17.126539Z" }, "id": "HTsyypGUwmSC", "outputId": "c566439b-2b73-4ddd-bd0e-34af91067fa2", "colab": { "base_uri": "https://localhost:8080/", "height": 78 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ell⋅cos(θ)⎤\n", "⎢ ⎥\n", "⎢ell⋅sin(θ)⎥\n", "⎢ ⎥\n", "⎣ 0 ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}\\ell \\cos{\\left(\\theta \\right)}\\\\\\ell \\sin{\\left(\\theta \\right)}\\\\0\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 6 } ], "source": [ "r_p.to_matrix(G)" ] }, { "cell_type": "markdown", "metadata": { "id": "pyS0X_mDwmSC" }, "source": [ "The third element of the matrix above refers to the $\\hat{\\mathbf{k}}$ component which is zero for the present case (planar movement). " ] }, { "cell_type": "markdown", "metadata": { "id": "VIIeb9c-wmSC" }, "source": [ "## Differential kinematics\n", "\n", "Differential kinematics gives the relationship between the joint velocities and the corresponding endpoint linear velocity. This mapping is described by a matrix, termed [**Jacobian matrix**](http://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant), which depends on the kinematic chain configuration and it is of great use in the study of kinematic chains. \n", "First, let's deduce the endpoint velocity without using the Jacobian and then we will see how to calculate the endpoint velocity using the Jacobian matrix.\n", "\n", "The velocity of the endpoint can be obtained by the first-order derivative of the position vector. The derivative of a vector is obtained by differentiating each vector component:\n", "
\n", "\n", "\\begin{equation}\n", "\\frac{\\mathrm{d}\\overrightarrow{\\mathbf{r}}}{\\mathrm{d}t} =\n", "\\large\n", "\\begin{bmatrix}\n", "\\frac{\\mathrm{d}x_P}{\\mathrm{d}t} \\\\\n", "\\frac{\\mathrm{d}y_P}{\\mathrm{d}t} \\\\\n", "\\end{bmatrix}\n", "\\end{equation}\n", "\n", "\n", "Note that the derivative is with respect to time but $x_P$ and $y_P$ depend explicitly on $\\theta$ and it's $\\theta$ that depends on $t$ ($x_P$ and $y_P$ depend implicitly on $t$). To calculate this type of derivative we will use the [chain rule](http://en.wikipedia.org/wiki/Chain_rule). \n", "
\n", "\n", "
\n", "Chain rule \n", "
\n", "For variable $f$ which is function of variable $g$ which in turn is function of variable $t$, $f(g(t))$ or $(f\\circ g)(t)$, the derivative of $f$ with respect to $t$ is (using Lagrange's notation): \n", "
\n", "\n", "$$(f\\circ g)^{'}(t) = f'(g(t)) \\cdot g'(t)$$ \n", "\n", "\n", "Or using what is known as Leibniz's notation: \n", "
\n", "\n", "$$\\frac{\\mathrm{d}f}{\\mathrm{d}t} = \\frac{\\mathrm{d}f}{\\mathrm{d}g} \\cdot \\frac{\\mathrm{d}g}{\\mathrm{d}t}$$ \n", "\n", "\n", "If $f$ is function of two other variables which both are function of $t$, $ f(x(t),y(t))$, the chain rule for this case is: \n", "
\n", "\n", "$$\\frac{\\mathrm{d}f}{\\mathrm{d}t} = \\frac{\\partial f}{\\partial x} \\cdot \\frac{\\mathrm{d}x}{\\mathrm{d}t} + \\frac{\\partial f}{\\partial y} \\cdot \\frac{\\mathrm{d}y}{\\mathrm{d}t}$$ \n", "\n", " \n", "Where $df/dt$ represents the total derivative and $\\partial f / \\partial x$ represents the partial derivative of a function. \n", "
\n", "Product rule \n", "The derivative of the product of two functions is: \n", "
\n", "\n", "$$ (f \\cdot g)' = f' \\cdot g + f \\cdot g' $$\n", "\n", "
" ] }, { "cell_type": "markdown", "metadata": { "id": "pKjqwdyZwmSC" }, "source": [ "### Linear velocity of the endpoint\n", "\n", "For the planar one-link case, the linear velocity of the endpoint is:" ] }, { "cell_type": "code", "execution_count": 8, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:19.395714Z", "start_time": "2020-11-03T23:27:19.251844Z" }, "id": "jmRDh6e2wmSD", "outputId": "6b00e1ba-2dc8-4281-a573-bec84889edd3", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell⋅sin(θ)⋅θ̇⎤\n", "⎢ ⎥\n", "⎣ell⋅cos(θ)⋅θ̇ ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)} \\dot{\\theta}\\\\\\ell \\cos{\\left(\\theta \\right)} \\dot{\\theta}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 8 } ], "source": [ "v = r.diff(t)\n", "v" ] }, { "cell_type": "markdown", "metadata": { "id": "88uQ-APPwmSD" }, "source": [ "Where we used the [Newton's notation](http://en.wikipedia.org/wiki/Notation_for_differentiation) for differentiation. \n", "Note that $\\dot{\\theta}$ represents the unknown angular velocity of the joint; this is why the derivative of $\\theta$ is not explicitly solved. \n", "The magnitude or [Euclidian norm](http://en.wikipedia.org/wiki/Vector_norm) of the vector $\\overrightarrow{\\mathbf{v}}$ is: \n", "
\n", "\n", "\\begin{equation}\n", " ||\\overrightarrow{\\mathbf{v}}||=\\sqrt{v_x^2+v_y^2}\n", "\\end{equation}\n", "" ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:20.530788Z", "start_time": "2020-11-03T23:27:20.332885Z" }, "id": "yPjQGMjfwmSD", "outputId": "aa8dd9ef-74f0-4520-ed6f-401480f067b7", "colab": { "base_uri": "https://localhost:8080/", "height": 42 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ " ____\n", " ╱ 2 \n", "ell⋅╲╱ θ̇ " ], "text/latex": "$\\displaystyle \\ell \\sqrt{\\dot{\\theta}^{2}}$" }, "metadata": {}, "execution_count": 9 } ], "source": [ "simplify(sqrt(v[0]**2 + v[1]**2))" ] }, { "cell_type": "markdown", "metadata": { "id": "m_00CdXiwmSD" }, "source": [ "Which is $\\ell\\dot{\\theta}$.
\n", "We could have used the function `norm` of Sympy, but the output does not simplify nicely:" ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:21.463355Z", "start_time": "2020-11-03T23:27:21.201932Z" }, "id": "UENeuEOCwmSD", "outputId": "35113412-ef10-4a34-83a0-73d4c699577b", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ " ___________________________\n", " ╱ 2 2 \n", "ell⋅╲╱ │sin(θ)⋅θ̇│ + │cos(θ)⋅θ̇│ " ], "text/latex": "$\\displaystyle \\ell \\sqrt{\\left|{\\sin{\\left(\\theta \\right)} \\dot{\\theta}}\\right|^{2} + \\left|{\\cos{\\left(\\theta \\right)} \\dot{\\theta}}\\right|^{2}}$" }, "metadata": {}, "execution_count": 10 } ], "source": [ "simplify(v.norm())" ] }, { "cell_type": "markdown", "metadata": { "id": "3EToHNGewmSD" }, "source": [ "The direction of $\\overrightarrow{\\mathbf{v}}$ is tangent to the circular trajectory of the endpoint as can be seen in the figure below where its components are also shown.\n", "\n", "
\"onelinkVel\"/
Figure. Endpoint velocity of one link attached to a fixed body by a hinge joint in a plane.
" ] }, { "cell_type": "markdown", "metadata": { "id": "wuqXyfDZwmSD" }, "source": [ "### Linear acceleration of the endpoint\n", "\n", "The acceleration of the endpoint position can be given by the second-order derivative of the position or by the first-order derivative of the velocity. \n", "Using the chain and product rules for differentiation, the linear acceleration of the endpoint is:" ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:23.185455Z", "start_time": "2020-11-03T23:27:23.039800Z" }, "id": "H37__I8WwmSD", "outputId": "c680f50b-d57c-4170-a46f-44e9724d9d61", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ 2 ⎤\n", "⎢-ell⋅sin(θ)⋅θ̈ - ell⋅cos(θ)⋅θ̇ ⎥\n", "⎢ ⎥\n", "⎢ 2 ⎥\n", "⎣- ell⋅sin(θ)⋅θ̇ + ell⋅cos(θ)⋅θ̈⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)} \\ddot{\\theta} - \\ell \\cos{\\left(\\theta \\right)} \\dot{\\theta}^{2}\\\\- \\ell \\sin{\\left(\\theta \\right)} \\dot{\\theta}^{2} + \\ell \\cos{\\left(\\theta \\right)} \\ddot{\\theta}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 11 } ], "source": [ "acc = v.diff(t, 1)\n", "acc" ] }, { "cell_type": "markdown", "metadata": { "id": "CQl3kcK-wmSE" }, "source": [ "Examining the terms of the expression for the linear acceleration, we see there are two types of them: the term (in each direction) proportional to the angular acceleration $\\ddot{\\theta}$ and other term proportional to the square of the angular velocity $\\dot{\\theta}^{2}$. " ] }, { "cell_type": "markdown", "metadata": { "id": "9Jpprcm5wmSE" }, "source": [ "#### Tangential acceleration\n", "\n", "The term proportional to angular acceleration, $a_t$, is always tangent to the trajectory of the endpoint (see figure below) and it's magnitude or Euclidean norm is:" ] }, { "cell_type": "code", "execution_count": 12, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:24.758567Z", "start_time": "2020-11-03T23:27:24.588832Z" }, "id": "EdDC5pKQwmSE", "outputId": "e0c6e5b5-099b-44be-904e-a98c4c789c3a", "colab": { "base_uri": "https://localhost:8080/", "height": 38 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "ell⋅θ̈" ], "text/latex": "$\\displaystyle \\ell \\ddot{\\theta}$" }, "metadata": {}, "execution_count": 12 } ], "source": [ "A = θ.diff(t, 2)\n", "simplify(sqrt(expand(acc[0]).coeff(A)**2 + expand(acc[1]).coeff(A)**2))*A" ] }, { "cell_type": "markdown", "metadata": { "id": "fHqezI1zwmSE" }, "source": [ "#### Centripetal acceleration\n", "\n", "The term proportional to angular velocity, $a_c$, always points to the joint, the center of the circular motion (see figure below), because of that this term is termed [centripetal acceleration](http://en.wikipedia.org/wiki/Centripetal_acceleration#Tangential_and_centripetal_acceleration). Its magnitude is:" ] }, { "cell_type": "code", "execution_count": 13, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:26.883182Z", "start_time": "2020-11-03T23:27:26.732230Z" }, "id": "0rVi2H20wmSE", "outputId": "de55212b-d13e-4bc4-f919-d0448e3d7c2d", "colab": { "base_uri": "https://localhost:8080/", "height": 38 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ " 2\n", "ell⋅θ̇ " ], "text/latex": "$\\displaystyle \\ell \\dot{\\theta}^{2}$" }, "metadata": {}, "execution_count": 13 } ], "source": [ "A = θ.diff(t)**2\n", "simplify(sqrt(expand(acc[0]).coeff(A)**2+expand(acc[1]).coeff(A)**2))*A" ] }, { "cell_type": "markdown", "metadata": { "id": "0v_NgaqbwmSE" }, "source": [ "This means that there will be a linear acceleration even if the angular acceleration is zero because although the magnitude of the linear velocity is constant in this case, its direction varies (due to the centripetal acceleration). \n", "
\n", "
\"onelinkAcc\"/
Figure. Endpoint tangential and centripetal acceleration terms of one link attached to a fixed body by a hinge joint in a plane.
" ] }, { "cell_type": "markdown", "metadata": { "id": "eeJd1XM6wmSE" }, "source": [ "### Simulation\n", "\n", "Let's plot some simulated data to have an idea of the one-link kinematics. \n", "Consider $\\ell=1\\:m,\\theta_i=0^o,\\theta_f=90^o $, and $1\\:s$ of movement duration, and that it is a [minimum-jerk movement](https://nbviewer.jupyter.org/github/BMClab/bmc/blob/master/notebooks/MinimumJerkHypothesis.ipynb)." ] }, { "cell_type": "code", "execution_count": 14, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:28.623718Z", "start_time": "2020-11-03T23:27:28.565060Z" }, "id": "mviTTx8cwmSE" }, "outputs": [], "source": [ "θ_i, θ_f, d = 0, np.pi/2, 1\n", "ts = np.arange(0.01, 1.01, .01)\n", "mjt = θ_i + (θ_f - θ_i)*(10*(t/d)**3 - 15*(t/d)**4 + 6*(t/d)**5)\n", "\n", "ang = lambdify(t, mjt, 'numpy'); ang = ang(ts)\n", "vang = lambdify(t, mjt.diff(t,1), 'numpy'); vang = vang(ts)\n", "aang = lambdify(t, mjt.diff(t,2), 'numpy'); aang = aang(ts)\n", "jang = lambdify(t, mjt.diff(t,3), 'numpy'); jang = jang(ts)\n", "\n", "b, c, d, e = symbols('b c d e')\n", "dicti = {l:1, θ:b, θ.diff(t, 1):c, θ.diff(t, 2):d, θ.diff(t, 3):e}\n", "\n", "r2 = r.subs(dicti);\n", "rxfu = lambdify(b, r2[0], modules = 'numpy')\n", "ryfu = lambdify(b, r2[1], modules = 'numpy')\n", "\n", "v2 = v.subs(dicti);\n", "vxfu = lambdify((b, c), v2[0], modules = 'numpy')\n", "vyfu = lambdify((b, c), v2[1], modules = 'numpy')\n", "\n", "acc2 = acc.subs(dicti);\n", "axfu = lambdify((b, c, d), acc2[0], modules = 'numpy')\n", "ayfu = lambdify((b, c, d), acc2[1], modules = 'numpy')\n", "\n", "jerk = r.diff(t,3)\n", "jerk2 = jerk.subs(dicti);\n", "jxfu = lambdify((b, c, d, e), jerk2[0], modules = 'numpy')\n", "jyfu = lambdify((b, c, d, e), jerk2[1], modules = 'numpy')" ] }, { "cell_type": "code", "execution_count": 15, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:27:30.251177Z", "start_time": "2020-11-03T23:27:29.584054Z" }, "id": "o_WUYYPrwmSE", "outputId": "5f2e27fe-ef9d-44cf-e6a0-92ad19f41ce1", "colab": { "base_uri": "https://localhost:8080/", "height": 701 } }, "outputs": [ { "output_type": "display_data", "data": { "text/plain": [ "
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\n" }, "metadata": {} } ], "source": [ "fig, hax = plt.subplots(2, 4, sharex = True, figsize=(14, 7))\n", "\n", "hax[0, 0].plot(ts, ang*180/np.pi, linewidth=3)\n", "hax[0, 0].set_title('Angular displacement [$^o$]');\n", "hax[0, 0].set_ylabel('Joint')\n", "\n", "hax[0, 1].plot(ts, vang*180/np.pi, linewidth=3)\n", "hax[0, 1].set_title('Angular velocity [$^o/s$]');\n", "\n", "hax[0, 2].plot(ts, aang*180/np.pi, linewidth=3)\n", "hax[0, 2].set_title('Angular acceleration [$^o/s^2$]');\n", "\n", "hax[0, 3].plot(ts, jang*180/np.pi, linewidth=3)\n", "hax[0, 3].set_title('Angular jerk [$^o/s^3$]');\n", "\n", "hax[1, 0].plot(ts, rxfu(ang), 'r', linewidth=3, label = 'x')\n", "hax[1, 0].plot(ts, ryfu(ang), 'k', linewidth=3, label = 'y')\n", "hax[1, 0].set_title('Linear displacement [$m$]');\n", "hax[1, 0].legend(loc='best').get_frame().set_alpha(0.8)\n", "hax[1, 0].set_ylabel('Endpoint')\n", "\n", "hax[1, 1].plot(ts,vxfu(ang, vang), 'r', linewidth=3)\n", "hax[1, 1].plot(ts,vyfu(ang, vang), 'k', linewidth=3)\n", "hax[1, 1].set_title('Linear velocity [$m/s$]');\n", "\n", "hax[1, 2].plot(ts,axfu(ang, vang, aang), 'r', linewidth=3)\n", "hax[1, 2].plot(ts,ayfu(ang, vang, aang), 'k', linewidth=3)\n", "hax[1, 2].set_title('Linear acceleration [$m/s^2$]');\n", "\n", "hax[1, 3].plot(ts, jxfu(ang, vang, aang, jang), 'r', linewidth=3)\n", "hax[1, 3].plot(ts, jyfu(ang, vang, aang, jang), 'k', linewidth=3)\n", "hax[1, 3].set_title('Linear jerk [$m/s^3$]');\n", "\n", "fig.suptitle('Minimum jerk trajectory kinematics of one-link system', fontsize=20);\n", "for i, hax2 in enumerate(hax.flat):\n", " hax2.locator_params(nbins=5)\n", " hax2.grid(True)\n", " if i > 3:\n", " hax2.set_xlabel('Time [s]');\n", "plt.subplots_adjust(hspace=0.2, wspace=.3) #plt.tight_layout()" ] }, { "cell_type": "markdown", "metadata": { "id": "i55cRH3VwmSF" }, "source": [ "### Jacobian matrix \n", "
\n", "
\n", "The Jacobian matrix is the matrix of all first-order partial derivatives of a vector-valued function $F$: \n", " \n", "
\n", "\n", "$$\n", "F(q_1,...q_n) = \\begin{bmatrix}F_{1}(q_1,...q_n)\\\\\n", "\\vdots\\\\\n", "F_{m}(q_1,...q_n)\\\\\n", "\\end{bmatrix}\n", "$$\n", "\n", "\n", "In a general form, the Jacobian matrix of the function $F$ is: \n", "
\n", "\n", "$$\n", "\\mathbf{J}=\n", "\\large\n", "\\begin{bmatrix}\n", "\\frac{\\partial F_{1}}{\\partial q_{1}} & ... & \\frac{\\partial F_{1}}{\\partial q_{n}} \\\\\n", "\\vdots & \\ddots & \\vdots \\\\\n", "\\frac{\\partial F_{m}}{\\partial q_{1}} & ... & \\frac{\\partial F_{m}}{\\partial q_{n}} \\\\\n", "\\end{bmatrix}\n", "$$\n", "\n", "
" ] }, { "cell_type": "markdown", "metadata": { "id": "RGBqeR0owmSF" }, "source": [ "### Derivative of a vector-valued function using the Jacobian matrix\n", "
\n", "
\n", "The time-derivative of a vector-valued function $F$ can be computed using the Jacobian matrix: \n", "
\n", "\n", "$$\n", "\\frac{dF}{dt} = \\mathbf{J} \\cdot \\begin{bmatrix}\\frac{d q_1}{dt}\\\\\n", "\\vdots\\\\\n", "\\frac{d q_n}{dt}\\\\\n", "\\end{bmatrix}\n", "$$\n", "\n", "
" ] }, { "cell_type": "markdown", "metadata": { "id": "54O5kc21wmSL" }, "source": [ "### Jacobian matrix in the context of kinematic chains\n", "\n", "In the context of kinematic chains, the Jacobian is a matrix of all first-order partial derivatives of the linear position vector of the endpoint with respect to the angular position vector. The Jacobian matrix for a kinematic chain relates differential changes in the joint angle vector with the resulting differential changes in the linear position vector of the endpoint. \n", "\n", "For a kinematic chain, the function $F_{i}$ is the expression of the endpoint position in $m$ coordinates and the variable $q_{i}$ is the angle of each $n$ joints." ] }, { "cell_type": "markdown", "metadata": { "id": "kgZbDRqCwmSM" }, "source": [ "#### Jacobian matrix of one-link chain\n", "\n", "For the planar one-link case, the Jacobian matrix of the position vector of the endpoint $r_P$ with respect to the angular position vector $q_1=\\theta$ is:\n", "
\n", "\n", "\\begin{equation}\n", "\\mathbf{J}=\n", "\\large\n", "\\begin{bmatrix}\n", "\\frac{\\partial x_P}{\\partial \\theta} \\\\\n", "\\frac{\\partial y_P}{\\partial \\theta} \\\\\n", "\\end{bmatrix}\n", "\\end{equation}\n", "\n", "\n", "Which evaluates to:" ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:42.815513Z", "start_time": "2020-11-03T13:04:42.678614Z" }, "id": "RUMFIlUEwmSM", "outputId": "d1de0349-1a6c-42db-c5d5-164067b27272", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell⋅sin(θ)⎤\n", "⎢ ⎥\n", "⎣ell⋅cos(θ) ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)}\\\\\\ell \\cos{\\left(\\theta \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 16 } ], "source": [ "J = r.diff(θ)\n", "J" ] }, { "cell_type": "markdown", "metadata": { "id": "9iDiv2e7wmSM" }, "source": [ "And Sympy has a function to calculate the Jacobian:" ] }, { "cell_type": "code", "execution_count": 17, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:43.012095Z", "start_time": "2020-11-03T13:04:42.816671Z" }, "id": "BbMza_VTwmSM", "outputId": "092b34a8-4922-4b84-d567-f0a76de17380", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell⋅sin(θ)⎤\n", "⎢ ⎥\n", "⎣ell⋅cos(θ) ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)}\\\\\\ell \\cos{\\left(\\theta \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 17 } ], "source": [ "J = r.jacobian([θ])\n", "J" ] }, { "cell_type": "markdown", "metadata": { "id": "9tLaqVtawmSM" }, "source": [ "We can recalculate the kinematic expressions using the Jacobian matrix, which can be useful for simplifying the deduction.\n", "\n", "The linear velocity of the end-effector is given by the product between the Jacobian of the kinematic link and the angular velocity:\n", "
\n", "\n", "\\begin{equation}\n", " \\overrightarrow{\\mathbf{v}} = \\mathbf{J} \\cdot \\dot{\\theta}\n", "\\end{equation}\n", "\n", "\n", "Where:" ] }, { "cell_type": "code", "execution_count": 18, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:43.145742Z", "start_time": "2020-11-03T13:04:43.013354Z" }, "id": "ieKOONtwwmSM", "outputId": "67634f06-93a2-467b-dd07-2e5baa9a2663", "colab": { "base_uri": "https://localhost:8080/", "height": 38 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "θ̇" ], "text/latex": "$\\displaystyle \\dot{\\theta}$" }, "metadata": {}, "execution_count": 18 } ], "source": [ "ω = θ.diff(t)\n", "ω" ] }, { "cell_type": "markdown", "metadata": { "id": "Kt1nMjP6wmSM" }, "source": [ "The angular velocity is also a vector; it's direction is perpendicular to the plane of rotation and using the [right-hand rule](http://en.wikipedia.org/wiki/Right-hand_rule) this direction is the same as of the versor $\\hat{\\mathbf{k}}$ coming out of the screen (paper). \n", "\n", "Then:" ] }, { "cell_type": "code", "execution_count": 19, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:43.287843Z", "start_time": "2020-11-03T13:04:43.147029Z" }, "id": "qkbLKmNhwmSM", "outputId": "4c5d31ed-50a2-48b5-f53e-bcb386bbb481", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell⋅sin(θ)⋅θ̇⎤\n", "⎢ ⎥\n", "⎣ell⋅cos(θ)⋅θ̇ ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)} \\dot{\\theta}\\\\\\ell \\cos{\\left(\\theta \\right)} \\dot{\\theta}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 19 } ], "source": [ "velJ = J*ω\n", "velJ" ] }, { "cell_type": "markdown", "metadata": { "id": "Eh4Ue2Q2wmSN" }, "source": [ "And the linear acceleration of the endpoint is given by the derivative of this product:\n", "
\n", "\n", "\\begin{equation}\n", " \\overrightarrow{\\mathbf{a}} = \\dot{\\mathbf{J}} \\cdot \\overrightarrow{\\mathbf{\\omega}} + \\mathbf{J} \\cdot \\dot{\\overrightarrow{\\mathbf{\\omega}}}\n", "\\end{equation}\n", "\n", "\n", "Let's calculate this derivative:" ] }, { "cell_type": "code", "execution_count": 20, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:43.433861Z", "start_time": "2020-11-03T13:04:43.288988Z" }, "id": "qM0hclxOwmSN", "outputId": "ce083890-d72e-4b35-c09b-5b6c98458823", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ 2 ⎤\n", "⎢-ell⋅sin(θ)⋅θ̈ - ell⋅cos(θ)⋅θ̇ ⎥\n", "⎢ ⎥\n", "⎢ 2 ⎥\n", "⎣- ell⋅sin(θ)⋅θ̇ + ell⋅cos(θ)⋅θ̈⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell \\sin{\\left(\\theta \\right)} \\ddot{\\theta} - \\ell \\cos{\\left(\\theta \\right)} \\dot{\\theta}^{2}\\\\- \\ell \\sin{\\left(\\theta \\right)} \\dot{\\theta}^{2} + \\ell \\cos{\\left(\\theta \\right)} \\ddot{\\theta}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 20 } ], "source": [ "accJ = J.diff(t)*ω + J*ω.diff(t)\n", "accJ" ] }, { "cell_type": "markdown", "metadata": { "id": "BjPPNVEZwmSN" }, "source": [ "These two expressions derived with the Jacobian are the same as the direct derivatives of the equation for the endpoint position. " ] }, { "cell_type": "markdown", "metadata": { "id": "AIfAgyhgwmSN" }, "source": [ "## The kinematics of a two-link chain\n", "\n", "We now will look at the case of a planar kinematic chain with two links, as shown below. The deduction will be similar to the case with one link we just saw. \n", "
\n", "
\"twolinks\"/
Figure. Kinematics of a two-link chain with hinge joints in a plane.
" ] }, { "cell_type": "markdown", "metadata": { "id": "SejziZCCwmSN" }, "source": [ "We need to define a Cartesian coordinate system and the symbolic variables $t,\\:\\ell_1,\\:\\ell_2,\\:\\theta_1,\\:\\theta_2$ (and make $\\theta_1$ and $\\theta_2$ function of time):" ] }, { "cell_type": "code", "execution_count": 21, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:43:43.734814Z", "start_time": "2020-11-03T23:43:43.731978Z" }, "id": "z_NAMo7owmSN" }, "outputs": [], "source": [ "G = CoordSys3D('')\n", "t = Symbol('t')\n", "l1, l2 = symbols('ell_1 ell_2', positive=True)\n", "θ1, θ2 = dynamicsymbols('theta1 theta2')" ] }, { "cell_type": "markdown", "metadata": { "id": "psFe6Zd7wmSN" }, "source": [ "The position of the endpoint in terms of the joint angles and link lengths is:" ] }, { "cell_type": "code", "execution_count": 22, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:50:09.810615Z", "start_time": "2020-11-03T23:50:09.671017Z" }, "id": "6UGouC_ZwmSN", "outputId": "5474012b-47f7-40d8-9b22-f0f439d1fcef", "colab": { "base_uri": "https://localhost:8080/", "height": 40 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "(ell₁⋅cos(θ₁) + ell₂⋅cos(θ₁ + θ₂)) i_ + (ell₁⋅sin(θ₁) + ell₂⋅sin(θ₁ + θ₂)) j_" ], "text/latex": "$\\displaystyle \\left(\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right)\\mathbf{\\hat{i}_{}} + \\left(\\ell_{1} \\sin{\\left(\\theta_{1} \\right)} + \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right)\\mathbf{\\hat{j}_{}}$" }, "metadata": {}, "execution_count": 22 } ], "source": [ "r2_p = (l1*cos(θ1) + l2*cos(θ1 + θ2))*G.i + (l1*sin(θ1) + l2*sin(θ1 + θ2))*G.j\n", "r2_p" ] }, { "cell_type": "markdown", "metadata": { "id": "YmdAi9OrwmSN" }, "source": [ "With the components:" ] }, { "cell_type": "code", "execution_count": 23, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:50:11.642269Z", "start_time": "2020-11-03T23:50:11.500057Z" }, "id": "zp4tpM-QwmSN", "outputId": "aa53ad3e-dbcc-42f7-8c94-bbefd13ca15d", "colab": { "base_uri": "https://localhost:8080/", "height": 47 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "{i_: ell₁⋅cos(θ₁) + ell₂⋅cos(θ₁ + θ₂), j_: ell₁⋅sin(θ₁) + ell₂⋅sin(θ₁ + θ₂)}" ], "text/latex": "$\\displaystyle \\left\\{ \\mathbf{\\hat{i}_{}} : \\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}, \\ \\mathbf{\\hat{j}_{}} : \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} + \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right\\}$" }, "metadata": {}, "execution_count": 23 } ], "source": [ "r2_p.components" ] }, { "cell_type": "markdown", "metadata": { "id": "mXh7jnDmwmSO" }, "source": [ "And in matrix form:" ] }, { "cell_type": "code", "execution_count": 24, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:50:13.375614Z", "start_time": "2020-11-03T23:50:13.231619Z" }, "id": "afAMvTfTwmSO", "outputId": "49b4cf0b-327a-465c-9853-7f86a3e715dc", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ell₁⋅cos(θ₁) + ell₂⋅cos(θ₁ + θ₂)⎤\n", "⎢ ⎥\n", "⎣ell₁⋅sin(θ₁) + ell₂⋅sin(θ₁ + θ₂)⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\\\\\ell_{1} \\sin{\\left(\\theta_{1} \\right)} + \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 24 } ], "source": [ "r2 = Matrix((r2_p.dot(G.i), r2_p.dot(G.j)))\n", "r2" ] }, { "cell_type": "markdown", "metadata": { "id": "qTNyUF_YwmSO" }, "source": [ "### Joint and segment angles\n", "\n", "Note that $\\theta_2$ is a joint angle (referred as measured in the **joint space**); the angle of the segment 2 with respect to the horizontal is $\\theta_1+\\theta_2$ and is referred as an angle in the **segment space**. \n", "Joint and segment angles are also referred as relative and absolute angles, respectively." ] }, { "cell_type": "markdown", "metadata": { "id": "252nkywpwmSO" }, "source": [ "### Inverse kinematics\n", "\n", "Using the [cosine rule](http://en.wikipedia.org/wiki/Law_of_cosines), in terms of the endpoint position, the angle $\\theta_2$ is: \n", "
\n", "\n", "\\begin{equation}\n", "x_P^2 + y_P^2 = \\ell_1^2+\\ell_2^2 - 2\\ell_1 \\ell_2 cos(\\pi-\\theta_2)\n", "\\end{equation}\n", "\n", "\n", "\n", "\\begin{equation}\n", "\\theta_2 = \\arccos\\left(\\frac{x_P^2 + y_P^2 - \\ell_1^2 - \\ell_2^2}{2\\ell_1 \\ell_2}\\;\\;\\right)\n", "\\end{equation}\n", "\n", "\n", "To find the angle $\\theta_1$, if we now look at the triangle in red in the figure below, its angle $\\phi$ is: \n", "
\n", "\n", "\\begin{equation}\n", "\\phi = \\arctan\\left(\\frac{\\ell_2 \\sin(\\theta_2)}{\\ell_1 + \\ell_2 \\cos(\\theta_2)}\\right)\n", "\\end{equation}\n", "\n", "\n", "And the angle of its hypotenuse with the horizontal is: \n", "
\n", "\n", "\\begin{equation}\n", "\\theta_1 + \\phi = \\arctan\\left(\\frac{y_P}{x_P}\\right)\n", "\\end{equation}\n", "\n", "\n", "Then, the angle $\\theta_1$ is: \n", "
\n", "\n", "\\begin{equation}\n", "\\theta_1 = \\arctan\\left(\\frac{y_P}{x_P}\\right) - \\arctan\\left(\\frac{\\ell_2 \\sin(\\theta_2)}{\\ell_1+\\ell_2 \\cos(\\theta_2)}\\right)\n", "\\end{equation}\n", "\n", "\n", "Note that there are two possible sets of $(\\theta_1, \\theta_2)$ angles for the same $(x_P, y_P)$ coordinate that satisfy the equations above. The figure below shows in orange another possible configuration of the kinematic chain with the same endpoint coordinate. The other solution is $\\theta_2'=2\\pi - \\theta_2$, but $\\sin(\\theta_2')=-sin(\\theta_{2})$ and then the $arctan()$ term in the last equation becomes negative. \n", "Even for a simple two-link chain we already have a problem of redundancy, there is more than one joint configuration for the same endpoint position; this will be much more problematic for chains with more links (more degrees of freedom). \n", "
\n", "
\"twolinks_ik\"/
Figure. Indetermination in the inverse kinematics approach to determine one of the joint angles for a two-link chain with hinge joints in a plane.
" ] }, { "cell_type": "markdown", "metadata": { "id": "0R_DJLtGwmSO" }, "source": [ "## Differential kinematics\n", "\n", "The linear velocity of the endpoint is:" ] }, { "cell_type": "code", "execution_count": 25, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:50:17.398058Z", "start_time": "2020-11-03T23:50:17.244648Z" }, "id": "OtlHrv5OwmSO", "outputId": "6a8494c7-28d3-4065-c42a-9931343972f9", "colab": { "base_uri": "https://localhost:8080/", "height": 78 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell₁⋅sin(θ₁)⋅θ₁̇ - ell₂⋅(θ₁̇ + θ₂̇)⋅sin(θ₁ + θ₂)⎤\n", "⎢ ⎥\n", "⎣ell₁⋅cos(θ₁)⋅θ₁̇ + ell₂⋅(θ₁̇ + θ₂̇)⋅cos(θ₁ + θ₂) ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1} - \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\\\\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1} + \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 25 } ], "source": [ "vel2 = r2.diff(t)\n", "vel2" ] }, { "cell_type": "markdown", "metadata": { "id": "4mdLHd-BwmSO" }, "source": [ "The linear velocity of the endpoint is the sum of the velocities at each joint, i.e., it is the velocity of the endpoint in relation to joint 2, for instance, \n", "$\\ell_2cos(\\theta_1 + \\theta_2)\\dot{\\theta}_1$, plus the velocity of joint 2 in relation to joint 1, for instance, $\\ell_1\\dot{\\theta}_1 cos(\\theta_1)$, and this last term we already saw for the one-link example. In classical mechanics this is known as [relative velocity](http://en.wikipedia.org/wiki/Relative_velocity), an example of [Galilean transformation](http://en.wikipedia.org/wiki/Galilean_transformation)." ] }, { "cell_type": "markdown", "metadata": { "id": "4Bdl_dBvwmSO" }, "source": [ "The linear acceleration of the endpoint is:" ] }, { "cell_type": "code", "execution_count": 26, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:50:21.316813Z", "start_time": "2020-11-03T23:50:21.131606Z" }, "id": "KGT7tGY9wmSO", "outputId": "479c1733-b2c2-4a7e-994c-1d8fd88186d8", "colab": { "base_uri": "https://localhost:8080/", "height": 88 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡ ⎛ 2 2 \n", "⎢-⎝ell₁⋅sin(θ₁)⋅θ₁̈ + ell₁⋅cos(θ₁)⋅θ₁̇ + ell₂⋅(θ₁̇ + θ₂̇) ⋅cos(θ₁ + θ₂) + ell\n", "⎢ \n", "⎢ 2 2 \n", "⎣- ell₁⋅sin(θ₁)⋅θ₁̇ + ell₁⋅cos(θ₁)⋅θ₁̈ - ell₂⋅(θ₁̇ + θ₂̇) ⋅sin(θ₁ + θ₂) + ell\n", "\n", " ⎞⎤\n", "₂⋅(θ₁̈ + θ₂̈)⋅sin(θ₁ + θ₂)⎠⎥\n", " ⎥\n", " ⎥\n", "₂⋅(θ₁̈ + θ₂̈)⋅cos(θ₁ + θ₂) ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- (\\ell_{1} \\sin{\\left(\\theta_{1} \\right)} \\ddot{\\theta}_{1} + \\ell_{1} \\cos{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1}^{2} + \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right)^{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} + \\ell_{2} \\left(\\ddot{\\theta}_{1} + \\ddot{\\theta}_{2}\\right) \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)})\\\\- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1}^{2} + \\ell_{1} \\cos{\\left(\\theta_{1} \\right)} \\ddot{\\theta}_{1} - \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right)^{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} + \\ell_{2} \\left(\\ddot{\\theta}_{1} + \\ddot{\\theta}_{2}\\right) \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 26 } ], "source": [ "acc2 = r2.diff(t, 2)\n", "acc2" ] }, { "cell_type": "markdown", "metadata": { "id": "RlNrj9OBwmSP" }, "source": [ "We can separate the equation above for the linear acceleration in three types of terms: proportional to $\\ddot{\\theta}$ and to $\\dot{\\theta}^2$, as we already saw for the one-link case, and a new term, proportional to $\\dot{\\theta}_1\\dot{\\theta}_2$:" ] }, { "cell_type": "code", "execution_count": 27, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.230099Z", "start_time": "2020-11-03T13:04:44.202371Z" }, "id": "tGb2lMxEwmSP", "outputId": "7cb6dc78-9c16-46c4-91d5-99d2ec8db325", "colab": { "base_uri": "https://localhost:8080/", "height": 190 } }, "outputs": [ { "output_type": "display_data", "data": { "text/plain": [ "" ], "text/latex": "$\\displaystyle \\text{Tangential:} \\:\\,\\left[\\begin{matrix}- \\ell_{2} \\sin{\\left(\\theta_{1}{\\left(t \\right)} + \\theta_{2}{\\left(t \\right)} \\right)} \\frac{d^{2}}{d t^{2}} \\theta_{2}{\\left(t \\right)} + \\left(- \\ell_{1} \\sin{\\left(\\theta_{1}{\\left(t \\right)} \\right)} - \\ell_{2} \\sin{\\left(\\theta_{1}{\\left(t \\right)} + \\theta_{2}{\\left(t \\right)} \\right)}\\right) \\frac{d^{2}}{d t^{2}} \\theta_{1}{\\left(t \\right)}\\\\\\ell_{2} \\cos{\\left(\\theta_{1}{\\left(t \\right)} + \\theta_{2}{\\left(t \\right)} \\right)} \\frac{d^{2}}{d t^{2}} \\theta_{2}{\\left(t \\right)} + \\left(\\ell_{1} \\cos{\\left(\\theta_{1}{\\left(t \\right)} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1}{\\left(t \\right)} + \\theta_{2}{\\left(t \\right)} \\right)}\\right) \\frac{d^{2}}{d t^{2}} \\theta_{1}{\\left(t \\right)}\\end{matrix}\\right]$" }, "metadata": {} }, { "output_type": "stream", "name": "stdout", "text": [ "\n" ] }, { "output_type": "display_data", "data": { "text/plain": [ "" ], "text/latex": "$\\displaystyle \\text{Centripetal:}\\left[\\begin{matrix}- \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2}^{2} + \\left(- \\ell_{1} \\cos{\\left(\\theta_{1} \\right)} - \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}^{2}\\\\- \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2}^{2} + \\left(- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}^{2}\\end{matrix}\\right]$" }, "metadata": {} }, { "output_type": "stream", "name": "stdout", "text": [ "\n" ] }, { "output_type": "display_data", "data": { "text/plain": [ "" ], "text/latex": "$\\displaystyle \\text{Coriolis:} \\quad\\,\\left[\\begin{matrix}- 2 \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{1} \\dot{\\theta}_{2}\\\\- 2 \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{1} \\dot{\\theta}_{2}\\end{matrix}\\right]$" }, "metadata": {} } ], "source": [ "acc2 = acc2.expand()\n", "A = θ1.diff(t, 2)\n", "B = θ2.diff(t, 2)\n", "tg = A*Matrix((acc2[0].coeff(A),acc2[1].coeff(A)))+B*Matrix((acc2[0].coeff(B),acc2[1].coeff(B)))\n", "\n", "A = θ1.diff(t)**2\n", "B = θ2.diff(t)**2\n", "ct = A*Matrix((acc2[0].coeff(A),acc2[1].coeff(A)))+B*Matrix((acc2[0].coeff(B),acc2[1].coeff(B)))\n", "\n", "A = θ1.diff(t)*θ2.diff(t)\n", "co = A*Matrix((acc2[0].coeff(A),acc2[1].coeff(A)))\n", "\n", "display(Math(r'\\text{Tangential:} \\:\\,' + latex(tg)))\n", "print()\n", "display(Math(r'\\text{Centripetal:}' + mlatex(ct)))\n", "print()\n", "display(Math(r'\\text{Coriolis:} \\quad\\,' + mlatex(co)))" ] }, { "cell_type": "markdown", "metadata": { "id": "jliNj7-VwmSP" }, "source": [ "This new term is called the [Coriolis acceleration](http://en.wikipedia.org/wiki/Coriolis_effect); it is 'felt' by the endpoint when its distance to the instantaneous center of rotation varies, due to the links' constraints, and as consequence the endpoint motion is deflected (its direction is perpendicular to the relative linear velocity of the endpoint with respect to the linear velocity at the second joint, $\\mathbf{v} - \\mathbf{v}_{joint2}$." ] }, { "cell_type": "markdown", "metadata": { "id": "-ZzNDSwNwmSP" }, "source": [ "Let's now deduce the Jacobian for this planar two-link chain: \n", "
\n", "\n", "\\begin{equation}\n", "\\mathbf{J} =\n", "\\large\n", "\\begin{bmatrix}\n", "\\frac{\\partial x_P}{\\partial \\theta_{1}} & \\frac{\\partial x_P}{\\partial \\theta_{2}} \\\\\n", "\\frac{\\partial y_P}{\\partial \\theta_{1}} & \\frac{\\partial y_P}{\\partial \\theta_{2}} \\\\\n", "\\end{bmatrix}\n", "\\end{equation}\n", "" ] }, { "cell_type": "markdown", "metadata": { "id": "b9c_28oDwmSP" }, "source": [ "We could manually run: \n", "```python\n", "J = Matrix([[r2[0].diff(theta1), r2[0].diff(theta2)], [r2[1].diff(theta1), r2[1].diff(theta2)]])\n", "```\n", "But it's shorter with the Jacobian function from Sympy:" ] }, { "cell_type": "code", "execution_count": 28, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.395413Z", "start_time": "2020-11-03T13:04:44.231371Z" }, "id": "Pw6HQrJUwmSP", "outputId": "c9af1877-f4dd-4318-fa64-51dccd21e499", "colab": { "base_uri": "https://localhost:8080/", "height": 58 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell₁⋅sin(θ₁) - ell₂⋅sin(θ₁ + θ₂) -ell₂⋅sin(θ₁ + θ₂)⎤\n", "⎢ ⎥\n", "⎣ell₁⋅cos(θ₁) + ell₂⋅cos(θ₁ + θ₂) ell₂⋅cos(θ₁ + θ₂) ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} & - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\\\\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} & \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 28 } ], "source": [ "J2 = r2.jacobian([θ1, θ2])\n", "J2" ] }, { "cell_type": "markdown", "metadata": { "id": "nyNtFNgGwmSP" }, "source": [ "Using the Jacobian, the linear velocity of the endpoint is: \n", "
\n", "\n", "\\begin{equation}\n", " \\mathbf{v_J} = \\mathbf{J} \\cdot \\begin{bmatrix}\\dot{\\theta_1} \\\\\n", " \\dot{\\theta_2}\\\\\n", " \\end{bmatrix}\n", "\\end{equation}\n", "\n", "\n", "Where:" ] }, { "cell_type": "code", "execution_count": 29, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.531123Z", "start_time": "2020-11-03T13:04:44.396480Z" }, "id": "PvP51Xq-wmSP", "outputId": "e30b1699-d653-47c1-91da-af99f7309691", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡θ₁̇⎤\n", "⎢ ⎥\n", "⎣θ₂̇⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}\\dot{\\theta}_{1}\\\\\\dot{\\theta}_{2}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 29 } ], "source": [ "ω2 = Matrix((θ1, θ2)).diff(t)\n", "ω2" ] }, { "cell_type": "markdown", "metadata": { "id": "gMtc7SrIwmSP" }, "source": [ "Then:" ] }, { "cell_type": "code", "execution_count": 30, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.676026Z", "start_time": "2020-11-03T13:04:44.532210Z" }, "id": "7uGYyhCcwmSQ", "outputId": "f02dc4b5-7a4f-4e92-a93d-98cd84c54093", "colab": { "base_uri": "https://localhost:8080/", "height": 61 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell₂⋅sin(θ₁ + θ₂)⋅θ₂̇ + (-ell₁⋅sin(θ₁) - ell₂⋅sin(θ₁ + θ₂))⋅θ₁̇⎤\n", "⎢ ⎥\n", "⎣ ell₂⋅cos(θ₁ + θ₂)⋅θ₂̇ + (ell₁⋅cos(θ₁) + ell₂⋅cos(θ₁ + θ₂))⋅θ₁̇ ⎦" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2} + \\left(- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}\\\\\\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2} + \\left(\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 30 } ], "source": [ "vel2J = J2*ω2\n", "vel2J" ] }, { "cell_type": "markdown", "metadata": { "id": "3TbEUGrhwmSQ" }, "source": [ "This expression derived with the Jacobian is the same as the first-order derivative of the equation for the endpoint position. We can show this equality by comparing the two expressions with Sympy:" ] }, { "cell_type": "code", "execution_count": 31, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.682854Z", "start_time": "2020-11-03T13:04:44.677104Z" }, "id": "jEim3RTIwmSQ", "outputId": "ac5ba09b-c0bf-4411-8562-2d819ff15363", "colab": { "base_uri": "https://localhost:8080/" } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "True" ] }, "metadata": {}, "execution_count": 31 } ], "source": [ "vel2.expand() == vel2J.expand()" ] }, { "cell_type": "markdown", "metadata": { "id": "WNIPB2kcwmSQ" }, "source": [ "Once again, the linear acceleration of the endpoint is given by the derivative of the product between the Jacobian and the angular velocity: \n", "
\n", "\n", "\\begin{equation}\n", "\\mathbf{a} = \\dot{\\mathbf{J}} \\cdot \\mathbf{\\omega} + \\mathbf{J} \\cdot \\dot{\\mathbf{\\omega}}\n", "\\end{equation}\n", "\n", "\n", "Let's calculate this derivative:" ] }, { "cell_type": "code", "execution_count": 32, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.856062Z", "start_time": "2020-11-03T13:04:44.683543Z" }, "id": "JAPWSbdlwmSQ", "outputId": "5c3ddb87-f14c-47a9-c467-3054c55c2ee4", "colab": { "base_uri": "https://localhost:8080/", "height": 78 } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "⎡-ell₂⋅(θ₁̇ + θ₂̇)⋅cos(θ₁ + θ₂)⋅θ₂̇ - ell₂⋅sin(θ₁ + θ₂)⋅θ₂̈ + (-ell₁⋅sin(θ₁) -\n", "⎢ \n", "⎣-ell₂⋅(θ₁̇ + θ₂̇)⋅sin(θ₁ + θ₂)⋅θ₂̇ + ell₂⋅cos(θ₁ + θ₂)⋅θ₂̈ + (ell₁⋅cos(θ₁) + \n", "\n", " ell₂⋅sin(θ₁ + θ₂))⋅θ₁̈ + (-ell₁⋅cos(θ₁)⋅θ₁̇ - ell₂⋅(θ₁̇ + θ₂̇)⋅cos(θ₁ + θ₂))⋅\n", " ⎥\n", "ell₂⋅cos(θ₁ + θ₂))⋅θ₁̈ + (-ell₁⋅sin(θ₁)⋅θ₁̇ - ell₂⋅(θ₁̇ + θ₂̇)⋅sin(θ₁ + θ₂))⋅θ" ], "text/latex": "$\\displaystyle \\left[\\begin{matrix}- \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2} - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} \\ddot{\\theta}_{2} + \\left(- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} - \\ell_{2} \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\ddot{\\theta}_{1} + \\left(- \\ell_{1} \\cos{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1} - \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}\\\\- \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)} \\dot{\\theta}_{2} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)} \\ddot{\\theta}_{2} + \\left(\\ell_{1} \\cos{\\left(\\theta_{1} \\right)} + \\ell_{2} \\cos{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\ddot{\\theta}_{1} + \\left(- \\ell_{1} \\sin{\\left(\\theta_{1} \\right)} \\dot{\\theta}_{1} - \\ell_{2} \\left(\\dot{\\theta}_{1} + \\dot{\\theta}_{2}\\right) \\sin{\\left(\\theta_{1} + \\theta_{2} \\right)}\\right) \\dot{\\theta}_{1}\\end{matrix}\\right]$" }, "metadata": {}, "execution_count": 32 } ], "source": [ "acc2J = J2.diff(t)*ω2 + J2*ω2.diff(t)\n", "acc2J" ] }, { "cell_type": "markdown", "metadata": { "id": "MHYkUQEGwmSQ" }, "source": [ "Once again, the expression above is the same as the second-order derivative of the equation for the endpoint position:" ] }, { "cell_type": "code", "execution_count": 33, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:44.868701Z", "start_time": "2020-11-03T13:04:44.857098Z" }, "id": "V8yuUASzwmSQ", "outputId": "cff19c0d-2f23-4bda-e8a0-1f2441d51967", "colab": { "base_uri": "https://localhost:8080/" } }, "outputs": [ { "output_type": "execute_result", "data": { "text/plain": [ "True" ] }, "metadata": {}, "execution_count": 33 } ], "source": [ "acc2.expand() == acc2J.expand()" ] }, { "cell_type": "markdown", "metadata": { "id": "WLEDjkr0wmSQ" }, "source": [ "### Simulation\n", "\n", "Let's plot some simulated data to have an idea of the two-link kinematics. \n", "Consider 1 s of movement duration, $\\ell_1=\\ell_2=0.5m, \\theta_1(0)=\\theta_2(0)=0$, $\\theta_1(1)=\\theta_2(1)=90^o$, and that the endpoint trajectory is a [minimum-jerk movement](https://nbviewer.jupyter.org/github/BMClab/bmc/blob/master/notebooks/MinimumJerkHypothesis.ipynb). \n", "\n", "First, the simulated trajectories:" ] }, { "cell_type": "code", "execution_count": 34, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:59:25.057256Z", "start_time": "2020-11-03T23:59:23.458044Z" }, "id": "_4nAPcvxwmSR" }, "outputs": [], "source": [ "t, p0, pf, d = symbols('t p0 pf d')\n", "rx = dynamicsymbols('rx', real=True) # or Function('rx')(t)\n", "ry = dynamicsymbols('ry', real=True) # or Function('ry')(t)\n", "\n", "# minimum jerk kinematics\n", "mjt = p0 + (pf - p0)*(10*(t/d)**3 - 15*(t/d)**4 + 6*(t/d)**5)\n", "rfu = lambdify((t, p0, pf, d), mjt, 'numpy')\n", "vfu = lambdify((t, p0, pf, d), diff(mjt, t, 1), 'numpy')\n", "afu = lambdify((t, p0, pf, d), diff(mjt, t, 2), 'numpy')\n", "jfu = lambdify((t, p0, pf, d), diff(mjt, t, 3), 'numpy')\n", "# values\n", "d, L1, L2 = 1, .5, .5\n", "#initial values:\n", "p0, pf = [-0.5, 0.5], [0, .5*np.sqrt(2)]\n", "ts = np.arange(0.01, 1.01, .01)\n", "\n", "# endpoint kinematics\n", "x = rfu(ts, p0[0], pf[0], d)\n", "y = rfu(ts, p0[1], pf[1], d)\n", "vx = vfu(ts, p0[0], pf[0], d)\n", "vy = vfu(ts, p0[1], pf[1], d)\n", "ax = afu(ts, p0[0], pf[0], d)\n", "ay = afu(ts, p0[1], pf[1], d)\n", "jx = jfu(ts, p0[0], pf[0], d)\n", "jy = jfu(ts, p0[1], pf[1], d)\n", "\n", "# inverse kinematics\n", "ang2b = np.arccos((x**2 + y**2 - L1**2 - L2**2)/(2*L1*L2))\n", "ang1b = np.arctan2(y, x) - (np.arctan2(L2*np.sin(ang2b), (L1+L2*np.cos(ang2b))))\n", "\n", "ang2 = acos((rx**2 + ry**2 - l1**2 - l2**2)/(2*l1*l2))\n", "ang2fu = lambdify((rx ,ry, l1, l2), ang2, 'numpy');\n", "ang2 = ang2fu(x, y, L1, L2)\n", "ang1 = atan2(ry, rx) - (atan(l2*sin(acos((rx**2 + ry**2 - l1**2 - l2**2)/(2*l1*l2)))/ \\\n", " (l1+l2*cos(acos((rx**2 + ry**2 - l1**2 - l2**2)/(2*l1*l2))))))\n", "ang1fu = lambdify((rx, ry, l1, l2), ang1, 'numpy');\n", "ang1 = ang1fu(x, y, L1, L2)\n", "\n", "ang2b = acos((rx**2 + ry**2 - l1**2 - l2**2)/(2*l1*l2))\n", "ang1b = atan2(ry, rx) - (atan(l2*sin(acos((rx**2 + ry**2 - l1**2 - l2**2)/(2*l1*l2)))/ \\\n", " (l1 + l2*cos(acos((rx**2 + ry**2-l1**2 - l2**2)/(2*l1*l2))))))\n", "X, Y, Xd, Yd, Xdd, Ydd, Xddd, Yddd = symbols('X Y Xd Yd Xdd Ydd Xddd Yddd')\n", "dicti = {rx:X, ry:Y, rx.diff(t, 1):Xd, ry.diff(t, 1):Yd, \\\n", " rx.diff(t, 2):Xdd, ry.diff(t, 2):Ydd, rx.diff(t, 3):Xddd, ry.diff(t, 3):Yddd, l1:L1, l2:L2}\n", "vang1 = diff(ang1b, t, 1)\n", "vang1 = vang1.subs(dicti)\n", "vang1fu = lambdify((X, Y, Xd, Yd, l1, l2), vang1, 'numpy')\n", "vang1 = vang1fu(x, y, vx, vy, L1, L2)\n", "vang2 = diff(ang2b, t, 1)\n", "vang2 = vang2.subs(dicti)\n", "vang2fu = lambdify((X, Y, Xd, Yd, l1, l2), vang2, 'numpy')\n", "vang2 = vang2fu(x, y, vx, vy, L1, L2)\n", "\n", "aang1 = diff(ang1b, t, 2)\n", "aang1 = aang1.subs(dicti)\n", "aang1fu = lambdify((X, Y, Xd, Yd, Xdd, Ydd, l1, l2), aang1, 'numpy')\n", "aang1 = aang1fu(x, y, vx, vy, ax, ay, L1, L2)\n", "aang2 = diff(ang2b, t, 2)\n", "aang2 = aang2.subs(dicti)\n", "aang2fu = lambdify((X, Y, Xd, Yd, Xdd, Ydd, l1, l2), aang2, 'numpy')\n", "aang2 = aang2fu(x, y, vx, vy, ax, ay, L1, L2)\n", "\n", "jang1 = diff(ang1b, t, 3)\n", "jang1 = jang1.subs(dicti)\n", "jang1fu = lambdify((X, Y, Xd, Yd, Xdd, Ydd, Xddd, Yddd, l1, l2), jang1, 'numpy')\n", "jang1 = jang1fu(x, y, vx, vy, ax, ay, jx, jy, L1, L2)\n", "jang2 = diff(ang2b, t, 3)\n", "jang2 = jang2.subs(dicti)\n", "jang2fu = lambdify((X, Y, Xd, Yd, Xdd, Ydd, Xddd, Yddd, l1, l2), jang2, 'numpy')\n", "jang2 = jang2fu(x, y, vx, vy, ax, ay, jx, jy, L1, L2)" ] }, { "cell_type": "markdown", "metadata": { "id": "EEys8BaAwmSR" }, "source": [ "And the plots for the trajectories:" ] }, { "cell_type": "code", "execution_count": 35, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T23:59:37.370357Z", "start_time": "2020-11-03T23:59:36.511398Z" }, "id": "jZD-HoHXwmSR", "outputId": "db5c63a7-0e93-4852-a969-5a328968c3f4", "colab": { "base_uri": "https://localhost:8080/", "height": 1000 } }, "outputs": [ { "output_type": "display_data", "data": { "text/plain": [ "
" ], "image/png": 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\n" 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\n" }, "metadata": {} } ], "source": [ "fig, hax = plt.subplots(2, 4, sharex = True, figsize=(14, 7))\n", "\n", "hax[0, 0].plot(ts, x, 'r', linewidth=3, label = 'x')\n", "hax[0, 0].plot(ts, y, 'k', linewidth=3, label = 'y')\n", "hax[0, 0].set_title('Linear displacement [$m$]')\n", "hax[0, 0].legend(loc='best').get_frame().set_alpha(0.8)\n", "hax[0, 0].set_ylabel('Endpoint')\n", "\n", "hax[0, 1].plot(ts, vx, 'r', linewidth=3)\n", "hax[0, 1].plot(ts, vy, 'k', linewidth=3)\n", "hax[0, 1].set_title('Linear velocity [$m/s$]')\n", "\n", "hax[0, 2].plot(ts, ax, 'r', linewidth=3)\n", "hax[0, 2].plot(ts, ay, 'k', linewidth=3)\n", "hax[0, 2].set_title('Linear acceleration [$m/s^2$]')\n", "\n", "hax[0, 3].plot(ts, jx, 'r', linewidth=3)\n", "hax[0, 3].plot(ts, jy, 'k', linewidth=3)\n", "hax[0, 3].set_title('Linear jerk [$m/s^3$]')\n", "\n", "hax[1, 0].plot(ts, ang1*180/np.pi, 'b', linewidth=3, label = 'Ang1')\n", "hax[1, 0].plot(ts, ang2*180/np.pi, 'g', linewidth=3, label = 'Ang2')\n", "hax[1, 0].set_title('Angular displacement [$^o$]')\n", "hax[1, 0].legend(loc='best').get_frame().set_alpha(0.8)\n", "hax[1, 0].set_ylabel('Joint')\n", "\n", "hax[1, 1].plot(ts, vang1*180/np.pi, 'b', linewidth=3)\n", "hax[1, 1].plot(ts, vang2*180/np.pi, 'g', linewidth=3)\n", "hax[1, 1].set_title('Angular velocity [$^o/s$]')\n", "\n", "hax[1, 2].plot(ts, aang1*180/np.pi, 'b', linewidth=3)\n", "hax[1, 2].plot(ts, aang2*180/np.pi, 'g', linewidth=3)\n", "hax[1, 2].set_title('Angular acceleration [$^o/s^2$]')\n", "\n", "hax[1, 3].plot(ts, jang1*180/np.pi, 'b', linewidth=3)\n", "hax[1, 3].plot(ts, jang2*180/np.pi, 'g', linewidth=3)\n", "hax[1, 3].set_title('Angular jerk [$^o/s^3$]')\n", "\n", "tit = fig.suptitle('Minimum jerk trajectory kinematics of a two-link chain', fontsize=20)\n", "for i, hax2 in enumerate(hax.flat):\n", " hax2.locator_params(nbins=5)\n", " hax2.grid(True)\n", " if i > 3:\n", " hax2.set_xlabel('Time [$s$]')\n", "\n", "plt.subplots_adjust(hspace=0.15, wspace=0.25) #plt.tight_layout()\n", "\n", "fig, (ax1, ax2) = plt.subplots(1, 2, figsize=(14, 4))\n", "\n", "ax1.plot(x, y, 'r', linewidth=3)\n", "ax1.set_xlabel('Displacement in x [$m$]')\n", "ax1.set_ylabel('Displacement in y [$m$]')\n", "ax1.set_title('Endpoint space', fontsize=14)\n", "ax1.axis('equal')\n", "ax1.grid(True)\n", "\n", "ax2.plot(ang1*180/np.pi, ang2*180/np.pi, 'b', linewidth=3)\n", "ax2.set_xlabel('Displacement in joint 1 [$^o$]')\n", "ax2.set_ylabel('Displacement in joint 2 [$^o$]')\n", "ax2.set_title('Joint sapace', fontsize=14)\n", "ax2.axis('equal')\n", "ax2.grid(True)" ] }, { "cell_type": "markdown", "metadata": { "id": "riSbufAdwmSR" }, "source": [ "### Calculation of each type of acceleration of the endpoint for the numerical example of the two-link system" ] }, { "cell_type": "code", "execution_count": 36, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:47.326816Z", "start_time": "2020-11-03T13:04:47.278309Z" }, "id": "njKDOcpAwmSR" }, "outputs": [], "source": [ "# tangential acceleration\n", "A1, A2, A1d, A2d, A1dd, A2dd = symbols('A1 A2 A1d A2d A1dd A2dd')\n", "dicti = {θ1:A1, θ2:A2, θ1.diff(t, 1):A1d, θ2.diff(t,1):A2d, \\\n", " θ1.diff(t, 2):A1dd, θ2.diff(t, 2):A2dd, l1:L1, l2:L2}\n", "tg2 = tg.subs(dicti)\n", "tg2fu = lambdify((A1, A2, A1dd, A2dd), tg2, 'numpy');\n", "tg2n = tg2fu(ang1, ang2, aang1, aang2)\n", "tg2n = tg2n.reshape((2, 100)).T\n", "# centripetal acceleration\n", "ct2 = ct.subs(dicti)\n", "ct2fu = lambdify((A1, A2, A1d, A2d), ct2, 'numpy');\n", "ct2n = ct2fu(ang1, ang2, vang1, vang2)\n", "ct2n = ct2n.reshape((2, 100)).T\n", "# coriolis acceleration\n", "co2 = co.subs(dicti)\n", "co2fu = lambdify((A1, A2, A1d, A2d), co2, 'numpy');\n", "co2n = co2fu(ang1, ang2, vang1, vang2)\n", "co2n = co2n.reshape((2, 100)).T\n", "# total acceleration (it has to be the same calculated before)\n", "acc_tot = tg2n + ct2n + co2n" ] }, { "cell_type": "markdown", "metadata": { "id": "zyo3jMHDwmSR" }, "source": [ "### And the corresponding plots" ] }, { "cell_type": "code", "execution_count": 37, "metadata": { "ExecuteTime": { "end_time": "2020-11-03T13:04:47.543795Z", "start_time": "2020-11-03T13:04:47.327699Z" }, "id": "2VhreaPJwmSR", "outputId": "4de8fc85-4bd1-437f-f4f1-e73ec82df51a", "colab": { "base_uri": "https://localhost:8080/", "height": 529 } }, "outputs": [ { "output_type": "display_data", "data": { "text/plain": [ "
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\n" }, "metadata": {} } ], "source": [ "fig, hax = plt.subplots(1, 3, sharex = True, sharey = True, figsize=(12, 5))\n", "hax[0].plot(ts, acc_tot[:, 0], color=(1, 0, 0, .3), linewidth=5, label = 'x total')\n", "hax[0].plot(ts, acc_tot[:, 1], color=(0, 0, 0, .3), linewidth=5, label = 'y total')\n", "hax[0].plot(ts, tg2n[:, 0], 'r', linewidth=2, label = 'x')\n", "hax[0].plot(ts, tg2n[:, 1], 'k', linewidth=2, label = 'y')\n", "hax[0].set_title('Tangential')\n", "hax[0].set_ylabel('Endpoint acceleration [$m/s^2$]')\n", "hax[0].set_xlabel('Time [$s$]')\n", "hax[1].plot(ts, acc_tot[:, 0], color=(1,0,0,.3), linewidth=5, label = 'x total')\n", "hax[1].plot(ts, acc_tot[:, 1], color=(0,0,0,.3), linewidth=5, label = 'y total')\n", "hax[1].plot(ts, ct2n[:, 0], 'r', linewidth=2, label = 'x')\n", "hax[1].plot(ts, ct2n[:, 1], 'k', linewidth=2, label = 'y')\n", "hax[1].set_title('Centripetal')\n", "hax[1].set_xlabel('Time [$s$]')\n", "hax[1].legend(loc='best').get_frame().set_alpha(0.8)\n", "hax[2].plot(ts, acc_tot[:, 0], color=(1,0,0,.3), linewidth=5, label = 'x total')\n", "hax[2].plot(ts, acc_tot[:, 1], color=(0,0,0,.3), linewidth=5, label = 'y total')\n", "hax[2].plot(ts, co2n[:, 0], 'r', linewidth=2, label = 'x')\n", "hax[2].plot(ts, co2n[:, 1], 'k', linewidth=2, label = 'y')\n", "hax[2].set_title('Coriolis')\n", "hax[2].set_xlabel('Time [$s$]')\n", "tit = fig.suptitle('Acceleration terms for the minimum jerk trajectory of a two-link chain',\n", " fontsize=16)\n", "for hax2 in hax:\n", " hax2.locator_params(nbins=5)\n", " hax2.grid(True)\n", "# plt.subplots_adjust(hspace=0.15, wspace=0.25) #plt.tight_layout()" ] }, { "cell_type": "markdown", "metadata": { "id": "9TWhGlU1wmSR" }, "source": [ "## Further reading\n", "\n", " - Read pages 477-494 of the 10th chapter of the [Ruina and Rudra's book](http://ruina.tam.cornell.edu/Book/index.html) for a review of differential equations and kinematics. \n", " - Read section 2.8 of Rade's book about using the concept of rotation matrix applied to kinematic chains. \n", " - Read [Computational Motor Control: Kinematics](https://gribblelab.org/teaching/compneuro2012/4_Computational_Motor_Control_Kinematics.html) about the concept of kinematic chain for modeling the human upper limb. \n", " - For more about the Jacobian matrix, read [Jacobian matrix and determinant](https://www.algebrapracticeproblems.com/jacobian-matrix-determinant/). " ] }, { "cell_type": "markdown", "metadata": { "id": "Mrm0RTJywmSS" }, "source": [ "## Video lectures on the Internet\n", "\n", " - Khan Academy: [Differential Calculus Review](https://khanacademy.org/math/differential-calculus)\n", " - Khan Academy: [Chain Rule Review](https://khanacademy.org/math/differential-calculus/dc-chain)\n", " - [Multivariate Calculus – Jacobian applied](https://www.youtube.com/watch?v=57q-2YxIZss) \n", " - [Kinematics of the Two Link Arm](https://youtu.be/3WAk8ABj-kg) " ] }, { "cell_type": "markdown", "metadata": { "id": "lDgiP_1NwmSS" }, "source": [ "## Problems\n", "\n", "1. Calculate the Jacobian matrix for the following function: \n", "\n", "$$\n", "f(x, y) = \\begin{bmatrix}\n", "x^2 y \\\\\n", "5 x + \\sin y \\end{bmatrix}\n", "$$\n", " \n", "\n", "2. For the two-link chain, calculate and interpret the Jacobian and the expressions for the position, velocity, and acceleration of the endpoint for the following cases: \n", " a) When the first joint (the joint at the base) is fixed at $0^o$. \n", " b) When the second joint is fixed at $0^o$. \n", "\n", "3. Deduce the equations for the kinematics of a two-link pendulum with the angles in relation to the vertical. \n", "\n", "4. Deduce the equations for the kinematics of a two-link system using segment angles and compare with the deduction employing joint angles. \n", "\n", "5. For the two-link chain, a special case of movement occurs when the endpoint moves along a line passing through the first joint (the joint at the base). A system with this behavior is known as a polar manipulator (Mussa-Ivaldi, 1986). For simplicity, consider that the lengths of the two links are equal to $\\ell$. In this case, the two joint angles are related by: $2\\theta_1+\\theta_2=\\pi$. \n", " a) Calculate the Jacobian for this polar manipulator and compare it with the Jacobian for the standard two-link chain. Note the difference between the off-diagonal terms. \n", " b) Calculate the expressions for the endpoint position, velocity, and acceleration. \n", " c) For the endpoint acceleration of the polar manipulator, identify the tangential, centrifugal, and Coriolis components and compare them with the expressions for the standard two-link chain. \n", "\n", "6. [Ex. 2.22, Rade's book] In an internal combustion engine, crank $AB$, shown in figure below, has a constant rotation of 1000 rpm, counterclockwise. For position $\\theta=30^o$, determine: a) the angular velocity of connecting rod $BD$; b) the speed of piston $P$. Solution: a) $\\omega_{BD}=-44.88$ rad/s. b) $v_P=-8.976$ m/s.
\n", "
\n", "
\n", "\n", "7. [Ex. 2.30, Rade's book] The robot shown in the figure below has a plane motion, with velocity $\\overrightarrow{v}_0$ and acceleration $\\overrightarrow{a}_0$ in relation to the floor. Arm $O_1O_2$ rotates with angular velocity $\\omega_1=\\dot{\\theta}_1$ and angular acceleration $\\alpha_1=\\ddot{\\theta}_1$ relative to the robot's body, and arm $O_2P$ rotates with angular velocity $\\omega_2=\\dot{\\theta}_2$ and angular acceleration $\\alpha_2=\\ddot{\\theta}_2$ relative to the arm $O_1O_2$, with the directions indicated. Designating by $\\ell_1$ the length of the arm $O_1O_2$ and by $\\ell_2$ the length of the arm $O_2P$, obtain the expressions for the velocity $\\overrightarrow{v}_P$ and the acceleration $\\overrightarrow{a}_P$ of the endpoint $P$, with respect to the floor, as function of the indicated parameters.\n", "
\n", "
\n", "
\n", "Solution for $\\overrightarrow{v}$: \n", "\n", "$$\n", "\\overrightarrow{v}_{P, OXY} = \\begin{bmatrix}\n", "v_0+\\dot{\\theta}_1\\ell_1\\cos(\\theta_1)+(\\dot{\\theta}_1+\\dot{\\theta}_2)\\ell_2\\cos(\\theta_1+\\theta_2) \\\\\n", "\\dot{\\theta}_1\\ell_1\\sin(\\theta_1)+(\\dot{\\theta}_1+\\dot{\\theta}_2)\\ell_2\\sin(\\theta_1+\\theta_2) \\end{bmatrix}\n", "$$\n", "" ] }, { "cell_type": "markdown", "metadata": { "id": "tUFSXlfwwmSS" }, "source": [ "## References\n", "\n", "- Mussa-Ivaldi FA (1986) Compliance. In: Morasso P Tagliasco V (eds), [Human Movement Understanding: from computational geometry to artificial Intelligence](http://books.google.com.br/books?id=ZlZyLKNoAtEC). North-Holland, Amsterdam. \n", "- Rade D (2017) [Cinemática e Dinâmica para Engenharia](https://www.grupogen.com.br/e-book-cinematica-e-dinamica-para-engenharia). Grupo GEN. \n", "- Ruina A, Rudra P (2019) [Introduction to Statics and Dynamics](http://ruina.tam.cornell.edu/Book/index.html). Oxford University Press. \n", "- Siciliano B et al. (2009) [Robotics - Modelling, Planning and Control](http://books.google.com.br/books/about/Robotics.html?hl=pt-BR&id=jPCAFmE-logC). Springer-Verlag London.\n", "- Zatsiorsky VM (1998) [Kinematics of Human Motions](http://books.google.com.br/books/about/Kinematics_of_Human_Motion.html?id=Pql_xXdbrMcC&redir_esc=y). Champaign, Human Kinetics." ] } ], "metadata": { "hide_input": false, "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.9.13" }, "latex_envs": { "LaTeX_envs_menu_present": true, "autoclose": false, "autocomplete": true, "bibliofile": "biblio.bib", "cite_by": "apalike", "current_citInitial": 1, "eqLabelWithNumbers": true, "eqNumInitial": 1, "hotkeys": { "equation": "Ctrl-E", "itemize": "Ctrl-I" }, "labels_anchors": false, "latex_user_defs": false, "report_style_numbering": false, "user_envs_cfg": false }, "nbTranslate": { "displayLangs": [ "*" ], "hotkey": "alt-t", "langInMainMenu": true, "sourceLang": "en", "targetLang": "pt", "useGoogleTranslate": true }, "toc": { "base_numbering": 1, "nav_menu": {}, "number_sections": true, "sideBar": true, "skip_h1_title": true, "title_cell": "Contents", "title_sidebar": "Contents", "toc_cell": true, "toc_position": { "height": "calc(100% - 180px)", "left": "10px", "top": "150px", "width": "349.091px" }, "toc_section_display": true, "toc_window_display": false }, "varInspector": { "cols": { "lenName": 16, "lenType": 16, "lenVar": 40 }, "kernels_config": { "python": { "delete_cmd_postfix": "", "delete_cmd_prefix": "del ", "library": "var_list.py", "varRefreshCmd": "print(var_dic_list())" }, "r": { "delete_cmd_postfix": ") ", "delete_cmd_prefix": "rm(", "library": "var_list.r", "varRefreshCmd": "cat(var_dic_list()) " } }, "types_to_exclude": [ "module", "function", "builtin_function_or_method", "instance", "_Feature" ], "window_display": false }, "colab": { "provenance": [], "include_colab_link": true } }, "nbformat": 4, "nbformat_minor": 0 }