Friction and Stick-Slip in Robots A mini project report Submitted in partial fulfilment of the requirements for the credits of Non-Linear Dynamics in MECHANICAL ENGINEERING by ABENESH K.S [M190564ME ] DEPARTMENT OF MECHANICAL ENGINEERING NATIONAL INSTITUTE OF TECHNOLOGY CALICUT JUNE 2020ABSTRACT Robotics is a very active field that crosses the traditional boundaries of engineering. The field combines various engineering disciplines and merges numerous engineering applications. Robotics manipulators with frictions at joints present a complex area of study related to kinematics as well as dynamical model. This paper proposes an algorithm in matlab for a 2 degrees of freedom robot manipulator system with frictions at each joints. This model is based on a set of nonlinear second-order ordinary differential equations which was derived using Euler- lagrangian approach. Various graphs including phase plane plot for both joint variables have been found. Key words: Matlab , Dynamics, joint variables.6.8, > joint Navatter a: Mum, > mom of Soke ee Fg ee Ov ET feeke “ober tom ( 43), LA ‘ Q. a a > Sox Sengtn ~~. F SA Dhl he Vom a cam. 2» 6, > S08 3 ao Bey: Boot C,—2 &d, TF Fadion, “00 Sake Sq Se l019.) Cn © (0,40.) Potenhat enongy, P- = wigs, oo 8 Reach ats Sot St @ —Sosihonn ONE - = © Let oom 2 OG4 OO yfasease sie —@ a 5+ 6 se = = 0,5,6,— % SuCO* ») "a, Gy & aoa (6 6.) aa i~ oe Viren, Gong ky bY + 25 (66) ll Wye f3\ ti 34 ee as, (6+6.).} £ 60,4 6, (6,40,4 [- as 8.-0,$,.(6:964) Aer aeinlGid Lu “ . 2 - os ; (60, ) ([Link] (anda ee =_ My pen id 5 hae eS ary. O66 cesta OS, (6(0)) + 90.8,6,0, $6678.) %% + Of.67, (64S + 80,469, 6,060), - ag +! 2 06 aL (G76) ~ 34.8; (28) afeteretdealege 28] sic.+5 5h ne eras Cc. o6% O CBr 6.) + 90,4 6,(0;90,). o, 62= mg (OS, + OSs y. ‘lS EMA, + 276, #9 4,8, - 7,9 (ay s, 4 Asie) sim fa, 6, yO (66) - + 400, 60 al By sefiten me 3 (Me) -% ; ale 3) 26 . : ae 5). - 2 mw FG amy» SOO : ti 06,6, + F (69,)- ' aen,c 0 ford dae 6 a e of 2 - Pr . < ; 5 Fin oo & (628) ~ A (2) « m0" os F6.5 wb, Oe, ¢ “8 20, a bad t 678 . ~ amano ifs [Link] 8,4 0,0, © Oy (8 ) 0.0, $68 a y - ae x8 van q 1? —— = om: ecm 5 - -08\-- ft foo, eo). ot mn, > er | + La[ott Ta MO, J a Oo TE, | aes adeams (OCHS a 8, | 0h, amy Se a ¥n,0,0,92 (26,6,+ 6 )So 6 { pik on € 4 tiene aR ee mA. (G24) + 7. 20.6.6R():4,% (8,78). 05 06, - Z x Clie wh (PeaWe GE kee” We tua defin Crate felt amy 39, te aul, Vector aces Inckds Davy, Serer Nole Te propenty 2e—.9, Naw eo slid Sey « = HMO 1 OM. 2 OF,Suinmairieg fa. odin , Ws + mile) ¥ 4) 62,9) + (2) SNe L a] J 1 frentia Cv fett gravy. ome } fackon. tushgg TH gn: form m6 +8 + eu! 2,6,+¢,,0,8, +6,6,6,+3 (6,8) = 3-6 m+ m+ GGA 9,(8,,0.) = Tee fe Now Bs me Ge Gare 6.67 Sn G+ 2-H he oe my mn mdm % G~ MH. Sm 6) — Gn) 66, - GA My My My mat Se ove , 7constants.m ¥ Define constants ml = 10; m2 = 10; 3 kg al=1; a2 =1; % meter acl = 0.5; ac? = 0.5; & COM distance (meter) IT = (1/3) *(mT) *(al*2); % Inertia 2 = (1/3) * (m2) *(a2*2); & Inertia g = 9.8; & Gravity Acceleration time_dependent_parareters.m % Define time dependent parameters (torques and frictions) this analysis is meant for continuous system hence tau is expressed as ‘variable taul = @(time) cos(time); % taul cos tau2 ~ @(time) ein(time); & tau? sia £1 = @(time,s) sign(S(2)); & friction in joint 1 £2 = Q(time,8) sign(3(4)); & Friction in joint 2 Anertia_matrix.m BInertia matrix mil = @(S) (ml*a_c1*2) 1m2*(al~2+a_c2°2/24al*a_c2*cos (S (3) )) HIL412; ml2 = Q(8) m2 (aje2*24al*a_e2*cos(s (3)))4127 m2 = (8) m2* (a ¢2*24al*a_e2*cos (5 (3) } 1127 m2 = m2*a_c2*2+12; christofell_symbois.m % Christeffel symbols e121 = @(s) -Ltalta_c2+m2*sin(s (3}); e211 = @(S) -1*al*ane?*m2*sin(S (31) 7 e221 = @(S) -1*al*a_c2*m2*sin(S (3) e112 = @(8) al*a_c2*n2*ain($(3))7 gravity_terms.m % vefine gravity terms gl = @(S) (ml+a_clin2*al) *g*cos($(1)) + m24a_e24g*cos (S(1)+8(3)]; 92 = (8) m2*a_c2*g*cos (81) 48 (3)Project_NLD.m cle;clear all;close all; constants time_dependent_paraneters inextia natein Christoffel symbols gravity_terms tO =0; tl =5; & Integration Duration tspan = [t0 £1: % Define initial values thetel, thetal_det, theta2, thete2_dot thetal = deg?rad(0); theta? = deg?rad(0); % Initial Positions (Angle) thetal_dot = deg2rad(0); theta?_dot = deg2rad(0); @ Initial Angular Velocities I¢ = [thetal, thetal_dot, theta2, theta2_dot]; % Initial conditions define right side terms KL = Q(S) (m12 (8) *m22) /(m12 (8) *m21 (S$) -m11(S)*m22) ¢ K2 = G(S) (m11 (8) *m21(S)) /(m11(S) *m22~m12 (S)*m21(S)) 5 3 Define terms of thetal thetal_1 = a(S) ((-cl12(S) /m22) *(S (2)°2))7 thetal_2 = @(8) ((e221(S) /mi2(S) )*(8(4) 72) thetal™3 = @(S) ({(c121(S) +211 (3) } /m12 (3) } *S (2) *8(4) ) thetal_4 = @(S) (gl (S)/m12(8))7 thetal_5 = @(8) (-92(S) /m22): thetal_6 = @(time,S) (-taul (time) /m12(S)); thetall7 = @(time} (tau2 (time) /m22) 7 thetall@ = @(time,$) £1(time,s) /n12(S)-£2(time,S) /n22 ; 2 Define terms of theta? theta2_l = @(8) ((-c112(S) /m21(S)) *(8(2992)): theta2 2 = @(S) ((c221¢S) /m11(S) }* (8(4) *2) 95 theta23 = @(S) (( (e121 (8) +e211 (5)) /m1 1 (8) ) #8 (2) *8(4) }2 theta? 4 = @(S) (g1(8)/m11(S)) ; thetaa§ = @(S) (-92 (8) /m21 (8)) 5 theta?—6 = @(time,S) (-taul (time) /m11 (8); theta2_7 = @(time,3) (tau? (time) /m21(3)}5 theta2_@ = @(time,S) -£2 (time, S) /m21($)4£1 (time, $) /m11(S) + 3 Define system of first order differential equations s0oT = @(time,s) [s(2); k1(S)# (thetal_1(S)+thetal_2(S)+thetal_3(S)+thetal_4(s)+thetal_5(S)+thetal_6 (time, $)+thetal_7 (time) +thetal_e (time, S)}; Sa); k2(S)*(theta2_1(3)4theta2_2(S) +theta2_3(S) +theta?_4(S) ttheta?_5(S)+theta2_6 (time,S)4theta2_1 (time, 5) #theta?_8 (tine, S)}];8 Numerical Integration by means of 'ODE45' Runge Kutta Method [time, state_values} = ode45 (S007, tspan, IC); thetal = state values (2/217 thetal_det = state values (:,217 theta2™= stave _valtes (2,3) theta_det = state_values(:,4)7 Figure (N: plot (time, rad2deg(thetal)} ,xlabel('tine (s)'),ylabel('Joint Angle 1") title(? Joint Angle 1 (Beg) vs Tine’) figure (2); plot (time, rad2deg (thetal_dot)), xlabel ("time (s)'), ylabel ("Joint velocity 1'} title(* Joint Velocity 1 vs Time‘) Figure (3): plot (time, rad2deg(theta2)],x1abel (‘tine (s)"),ylabel('Joint Angle 2") title(? Joins Angle 2 (Deg) ve Tine’) figure (4); plot (time, rad2deg (theta?_dot)),xlabel(*time (s)'), ylabel ("Joint Velocity 2"} title(' Joint Velocity 2 vs Time") Figure (5): plot (rad2deg (theta?) , rad2deg (theta?_dot)),xlabel ("Joint variable 2"), ylabel (‘Joint Velocity 2") title('Phase plane plot for 2nd joint variable") Figure (6); plot (rad2deg(thetal) , rad2deg(thetal_dot)),xlabel ("Joint variable 1" ,ylabel (‘Joint Velocity 1!) title('Phase plane plot for 1st joint variable")RESULTS 200 Joint Velocity 1 vs Time 150 100 “50 Joint Velocity 4 “100 “150 160 15 Joint Angle 4 (Deg) vs Time 2 25 time (s) 3 35 45 140 120 = 100 Joint Angle 8 40 20 os 18 2 28 time (s) 3 36 48Joint Velocity 2 Joint Angle 2 Joint Velocity 2 vs Time 300 200 100 0 05 1 #45 2 25 3 35 time (s) Joint Angle 2 (Deg) vs Time 200 100 300 -400 time (s)Joint Velocity 1 Joint Velocity 2 Phase plane plot for 1st joint varlable 200 150 100 -50 “100 “150 300 200 100 600 20 40 60 80 = 100 Joint variable 1 120 Phase plane plot for 2nd joint variable 140 -700, ™ 500-400 -300 200-100 Joint variable 2 0 100 200