Kinematic Modelling of Three Link Robot Manipulator and Joint Torque Optimization Using Genetic Algorithm in MATLAB
Kinematic Modelling of Three Link Robot Manipulator and Joint Torque Optimization Using Genetic Algorithm in MATLAB
Kinematic Modelling of Three Link Robot Manipulator and Joint Torque Optimization Using Genetic Algorithm in MATLAB
Corresponding Author:
Neeta Sahay
Department of Electrical and Electronics Engineering, Institute of Engineering and Management
Kolkata, West Bengal, India
Email: [email protected]
1. INTRODUCTION
Robot manipulators can be assumed to be a chain of link mechanisms with highly nonlinear
dynamics. The forward and inverse kinematics are presented using the D-H convention and the deduced
mathematical model has been inferred by Newton-Euler approach. To obtain the optimal performance of the
robot manipulator, a precise dynamic model of the robot manipulator is required. Garg et al. [1] determined an
optimal path using a genetic algorithm and optimization was achieved using simulated annealing (SA).
Exhaustive simulation was conducted for different types of manipulators namely MELFA RV-1A having six
degrees of freedom and three planar revolute joints to find the distance between the end effector and the object
using an artificial neural network [2]. The payload of the mobile robotic arm is determined by a nonlinear
control law using optimal feedback [3] designed for a given trajectory task. This law is given by the solution
by the iterative method of a sequence of nonlinear Hamilton-Jacobi-Bellman equations. Aghanouri et al. [4]
developed a manipulator actuated by DC motors. The optimum path is derived by optimizing system
parameters to minimize performance indices including energy [5]. Talezadeh et al. [6] presented the nonlinear
dynamics of two-link manipulators for dynamic modeling of the system by the Lagrange equation of motion
where optimum control was adopted to analyse the motion of the manipulator. Some literature has presented
the whole-body dynamics of nonlinear equations of the hybrid cable-driven robots (HCDRs) where new
methods were developed to solve redundancy. Compared to the existing methods, torque optimization for
actuated and un-actuated joints can solve resolution problems as well as active satisfactory disturbance [7].
Baressi et al. [8] describe the kinematic modeling using the Denavit Hartenberg (DH) convention
and the dynamic modeling robotic arm has been presented by Lagrange-Euler (LE) and Newton-Euler
algorithms. Different algorithms such as artificial intelligence, genetic algorithm, simulated annealing, and
differential evolution have been adopted and compared to provide the best results for minimization of torque.
Televnoy et al. [9] provides Lagrange equations of motion of a nonlinear matrix equation. The experiment
has been performed to find out the solution of a moving object between two points. The angular displacement,
speed, and acceleration for six links of the manipulator have been presented. Agustian et al. [10] present the
vision-based robotic manipulator where inverse kinematics using pseudo-inverse Jacobian (PIJ) and DH
forward kinematics have been adopted and controlled by a proportional derivative controller. The sorting task
depending on color was made to evaluate the error to implement the manipulator on a real system. The reviews
was given [11] on dynamic analysis and intelligent control techniques for flexible robot manipulators. A
comparative study of dynamic analysis and control strategies was presented for flexible manipulators.
Korayem et al. [12] have determined the non-linear dynamics and control of flexible mobile manipulators
focusing on the determination of maximum payload. Wu et al. [13] present the minimum actuator torque
range by torque optimization of a 3-DOF parallel manipulator. Two approaches, Lagrangian and primal-dual
neural network, were presented together to make real-time optimization of joint torque for kinematically
redundant manipulators [14], [15]. Gao et al. [16] proposed joint torque optimization of flexible manipulators
with redundant space and vibration suppression where the Lagrange method has been adopted to represent
the dynamics of the robot arm. Naghshineh and Keshmiri [17] investigated an over actuated system for
dynamic cost function by applying real time optimization on a cooperative robot. Wolniakowski et al. [18]
presented a method required for joint torque minimization of a serial manipulator to determine the optimal
task placement. Woolfrey et al. [19] described a control strategy for minimizing joint torque using null space
control of a redundant manipulator where the dynamic torque has been reduced by applying an external force
to the gripper element. Agbaraji et al. [20] presented the design of the manipulator by calculating and
analyzing the joint torques by evaluating performance in terms of speed and displacement of the arm based
on the predetermined values of the torques. Singh et al. [21] find the position vectors of the six-arm robot by
forward kinematics and joint angles by inverse kinematics in MATLAB with the help of a robotic toolbox.
Brandstotter et al. [22] and Petrenko et al. [23] presented a generalized closed-form solution of the dynamic
models of parallel robots using some simple Jacobian matrices where the dynamics of the legs were expressed
in the joint coordinates and that of the platform in the form of cartesian variables. Sun et al. [24] proposed the
methodology for deriving the closed-form inverse kinematic solutions of the 6-DOF robot on the position
level where the analytical inverse solution of all the joints was given out and compared with that of the forward
kinematic solution. The mathematical formulation and simulation of the two-link planar robot manipulator
with forward kinematics and dynamics were presented with the help of the D-H convention and Newton-Euler
method where the results in terms of joint angles and angular velocities have been presented graphically [25].
In this paper, the Newton-Euler formulation has been adopted to present the dynamics of the three-
link manipulator. The solution relating torque and angular displacement is obtained analytically by expressing
the three second-order non-linear non-homogeneous differential equations into six first-order differential
equations by phase variable method. The angular positions and speed of each link have been presented
graphically for constant torques of fixed duration using MATLAB. Then optimization is done using a genetic
algorithm to obtain minimum torque that can be applied to each link-joint actuator to obtain optimum results.
𝜔0 = 0 , 𝜔̇ 0 = 0 , 𝑣0 = 0
where 𝜔0 , initial angular speed, 𝜔̇ 0 , initial angular acceleration, 𝑣0 , initial linear velocity and 𝑣̇ 0 ,initial linear
acceleration. Therefore,
𝑣̇ 0 = [0 9.81 0]𝑇
𝑞𝑖 = [𝜃1 ,𝜃2 ,𝜃3 ];
𝑞̇ 𝑖 = [𝜃̇1 , 𝜃̇2 , 𝜃̇3 ]
𝑞̈ 𝑖 = [𝜃̈1 , 𝜃̈2 , 𝜃̈3 ];
Link variable: 𝐹𝑖 , 𝑓𝑖 , 𝑛𝑖 , 𝜏𝑖
Kinematic modelling of three link robot manipulator and joint torque optimization … (Neeta Sahay)
162 ISSN: 2722-2586
where 𝐹𝑖 is the total external force exerted at the center of i th link, 𝑓𝑖 is the force exerted on ith link by i-1st
link, 𝑛𝑖 is the moment acting on ith link by i-1st link, 𝜏𝑖 is the torque on ith joint.
1 1
𝜏2 = 𝑚3 𝑙1 𝑙3 [𝑐𝑜𝑠( 𝜃2 + 𝜃3 )𝜃̈1 + 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )𝜃̇12 ] + 𝑚3 𝑙2 𝑙3 [𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 )2 +
2 2
1 1
𝑐𝑜𝑠 𝜃3 (𝜃̈1 + 𝜃̈2 )] + 𝑚3 𝑙32 (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑚3 𝑙3 𝑔 𝑐𝑜𝑠( 𝜃1 + 𝜃2 + 𝜃3 ) + (𝑚3 +
3 2
1 1 1
𝑚 )𝑙 𝑙 [𝑐𝑜𝑠 𝜃2 𝜃̈1 + 𝑠𝑖𝑛 𝜃2 𝜃̇12 ] + (𝑚3 + 𝑚2 )𝑙22 (𝜃̈1 + 𝜃̈2 ) + 𝑚3 𝑙2 𝑙3 [𝑐𝑜𝑠 𝜃3 (𝜃̈1 +
2 2 1 2 3 2
1
𝜃̈2 + 𝜃̈3 ) − 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 ] + (𝑚3 + 𝑚2 )𝑙2 𝑔 𝑐𝑜𝑠( 𝜃1 + 𝜃2 ) (2)
2
1 2 1
𝜏1 = 𝑚3 𝑙1 𝑙3 [𝑐𝑜𝑠( 𝜃2 + 𝜃3 )𝜃̈1 + 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )𝜃̇1 ] + 𝑚3 𝑙2 𝑙3 [𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 )2 +
2 2
1 1
𝑐𝑜𝑠 𝜃3 (𝜃̈1 + 𝜃̈2 )] + 𝑚3 𝑙32 (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑚3 𝑙3 𝑔 𝑐𝑜𝑠( 𝜃1 + 𝜃2 + 𝜃3 ) + (𝑚3 +
3 2
1 1 1
𝑚 )𝑙 𝑙 [𝑐𝑜𝑠 𝜃2 𝜃̈1 + 𝑠𝑖𝑛 𝜃2 𝜃̇12 ] + (𝑚3 + 𝑚2 )𝑙22 (𝜃̈1 + 𝜃̈2 ) + 𝑚3 𝑙2 𝑙3 [𝑐𝑜𝑠 𝜃3 (𝜃̈1 +
2 2 1 2 3 2
1
𝜃̈2 + 𝜃̈3 ) − 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 ] + (𝑚3 + 𝑚2 )𝑙2 𝑔 𝑐𝑜𝑠( 𝜃1 + 𝜃2 ) + (𝑚3 + 𝑚2 +
2
1 1
𝑚 )𝑙 2 𝜃̈ + (𝑚3 + 𝑚2 )𝑙1 𝑙2 [𝑐𝑜𝑠 𝜃2 (𝜃̈1 + 𝜃̈2 ) − 𝑠𝑖𝑛 𝜃2 (𝜃̇1 + 𝜃̇2 )2 ] −
3 1 1 1 2
1
𝑚3 𝑙1 𝑙3 [𝑠𝑖𝑛( 𝜃2 + 𝜃3 )(𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 − 𝑐𝑜𝑠( 𝜃2 + 𝜃3 )(𝜃̈1 + 𝜃̈2 + 𝜃̈3 )] + (𝑚3 +
2
1
𝑚2 + 𝑚1 )𝑙1 𝑔 𝑐𝑜𝑠 𝜃1 (3)
2
𝑧1 = 𝜃1̇ (4)
𝑧2 = 𝜃2̇ (5)
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IAES Int J Rob & Autom ISSN: 2722-2586 163
𝑧3 = 𝜃3̇ (6)
𝑧4 = 𝜃1 (7)
𝑧5 = 𝜃2 (8)
𝑧6 = 𝜃3 (9)
Therefore:
1 1 2 1 1
𝜏3 = 𝑐𝑜𝑠( 𝜃2 + 𝜃3 )𝜃̈1 + 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )𝜃̇1 + 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 )2 + 𝑐𝑜𝑠 𝜃3 (𝜃̈1 +
2 2 2 2
1 1
𝜃̈2 ) + (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑐𝑜𝑠( 𝜃1 + 𝜃2 + 𝜃3 ) (16)
3 2
1 1 1 1
𝜏2 = 𝑐𝑜𝑠( 𝜃2 + 𝜃3 )𝜃̈1 + 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )𝜃̇12 + 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 )2 + 𝑐𝑜𝑠 𝜃3 (𝜃̈1 +
2 2 2 2
1 1 3 3 4
𝜃̈2 ) + (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑐𝑜𝑠( 𝜃1 + 𝜃2 + 𝜃3 ) + 𝑐𝑜𝑠 𝜃2 𝜃̈1 + 𝑠𝑖𝑛 𝜃2 𝜃̇12 + (𝜃̈1 +
3 2 2 2 3
1 1 3
𝜃̈2 ) + 𝑐𝑜𝑠 𝜃3 (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) − 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 + 𝑐𝑜𝑠( 𝜃1 + 𝜃2 ) (17)
2 2 2
1 1 2 1 1
𝜏1 = 𝑐𝑜𝑠( 𝜃2 + 𝜃3 )𝜃̈1 + 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )𝜃̇1 + 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 )2 + 𝑐𝑜𝑠 𝜃3 (𝜃̈1 +
2 2 2 2
1 1 3 3 4
𝜃̈2 ) + (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑐𝑜𝑠( 𝜃1 + 𝜃2 + 𝜃3 ) + 𝑐𝑜𝑠 𝜃2 𝜃̈1 + 𝑠𝑖𝑛 𝜃2 𝜃̇12 + (𝜃̈1 +
3 2 2 2 3
1 1 3 7
𝜃̈2 ) + 𝑐𝑜𝑠 𝜃3 (𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) − 𝑠𝑖𝑛 𝜃3 (𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 + 𝑐𝑜𝑠( 𝜃1 + 𝜃2 ) + 𝜃̈1 +
2 2 2 3
3 3 1
𝑐𝑜𝑠 𝜃2 (𝜃̈1 + 𝜃̈2 ) − 𝑠𝑖𝑛 𝜃2 (𝜃̇1 + 𝜃̇2 )2 − 𝑠𝑖𝑛( 𝜃2 + 𝜃3 )(𝜃̇1 + 𝜃̇2 + 𝜃̇3 )2 +
2 2 2
1 5
𝑐𝑜𝑠( 𝜃2 + 𝜃3 )(𝜃̈1 + 𝜃̈2 + 𝜃̈3 ) + 𝑐𝑜𝑠 𝜃1 (18)
2 2
Using (16) to (18), 𝜃̈1 , 𝜃̈2 and 𝜃̈3 can be expressed as a function of 𝜃1 , 𝜃2 , 𝜃3 and their derivatives. Therefore,
six first order equations can be formed from (10) to (15) and can be solved using MATLAB which gives the
relationship of angular displacement and applied torque for various torque ratios as shown in Figures 2 to 8.
4
3
2 theta1
1 theta2
0
-1 0 2 4 6 8 10 12
Applied Torque (Nm)
Figure 2. Angular position versus applied torque (τ1: τ2: τ3: 1:1:1 (in Nm); time: 0.5sec)
Kinematic modelling of three link robot manipulator and joint torque optimization … (Neeta Sahay)
164 ISSN: 2722-2586
Figure 3. Angular position versus applied torque (τ1: τ2: τ3: 2.25:1.5:1 (in Nm); time: 0.5sec)
2
theta1
1
theta2
0 theta3
0 5 10 15 20 25
-1
Applied Torque (Nm)
Figure 4. Angular position versus applied torque (τ1: τ2: τ3: 4:2:1 (in Nm); time: 0.5sec)
4
2
theta1
0
theta2
-2 0 10 20 30 40
theta3
-4
Applied Torque (Nm)
Figure 5. Angular position versus applied torque (τ1: τ2: τ3: 6.25:2.5:1 (in Nm); time: 0.5sec)
2
1
0 theta1
-1 0 10 20 30 40 50 theta2
-2
theta3
-3
-4
Applied Torque (Nm)
Figure 6. Angular position versus applied torque (τ1: τ2: τ3: 9:3:1 (in Nm); time: 0.5sec)
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Figure 7. Angular position versus applied torque (τ1: τ2: τ3: 16:4:1 (in Nm); time: 0.5sec)
10
5 Theta1
0 Theta2
0 50 100 150
-5 Theta3
-10
Applied Torque (Nm)
Figure 8. Angular position versus applied torque (τ1: τ2: τ3: 25:5:1 (in Nm); time: 0.5sec)
Figure 9. Surface generation of T3 for torque Figure 10. Surface generation of θ3 with respect to θ1
optimization and θ2
where a, b, c, m, and w are constant coefficients of the objective function (19) and evaluated in MATLAB as
𝑎 = 2.683
𝑏 = 0.9224
𝑐 = −0.4006
𝑚 = 0.2138
𝑤 = −0.6463
𝑥1 𝑎𝑛𝑑 𝑥2 are the torque required and resulting angular displacement of the link2, respectively. Boundary
condition has been placed as 1 ≤ 𝑥1 ≤ 12.5 and −3 ≤ 𝑥2 ≤ 0.
From Table 1, it is evident that the results show a successful optimization using genetic algorithm on
𝝅
the problem of torque optimization. For practical implementation, assumptions can be made that 𝟎 ≤ 𝜽𝟏 ≤ ,
𝟐
𝝅 𝝅
𝟎 ≤ 𝜽𝟐 ≤ and 𝟎 ≤ 𝜽𝟑 ≤ and the condition|𝜃2 | ≤ 2𝜃1 must be followed if θ1 is positive and θ2 found to be
𝟐 𝟐
negative. Therefore, the result shown is to satisfy the above-mentioned condition and the joint torques as well
as corresponding angular displacement may be evaluated as given in Table 1.
6. CONCLUSION
The manipulator dynamics, as stated in (2) to (4), represent the non-linearity of the robot arm
system. Here the open chain of links and its corresponding behavior of the manipulator has been studied
which shows the angular position vs. applied torque characteristics. The optimum value of torque with
respect to the desired movement of the manipulator arm has been evaluated using a genetic algorithm with
boundary conditions in MATLAB which also satisfies the relative angular position constraints. Also, the
system may be assumed to be a series of three inverted pendulums exhibiting the nature of a chaotic system
which is certainly nonlinear in nature. Therefore, stability of the system may be achieved with the help of a
sliding mode controller as well as by behavior-based control where it is to split a complex dynamic into
several simple equations which are quietly related to the problem stated in this research paper.
ACKNOWLEDGEMENTS
This research received no specific grant from any funding agency in the public, commercial, or
not-for-profit sectors.
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BIOGRAPHIES OF AUTHORS
Kinematic modelling of three link robot manipulator and joint torque optimization … (Neeta Sahay)