Department of Mechanical Engineering

IIT Delhi
Dynamics Tutorial

For the manipulator shown aside, compute the joint

torques/force needed to move the centre of mass of link 2
starting from the point (3lg1, 3lg1) at rest to go to rest (lg1, 0) in T
sec. while moving in a straight line. Verify your computation
using direct dynamics. Do this as follows:
a. Compute inverse kinematics at 4 points on the path to
generate joint coordinates.
b. Do cubic interpolation in the joint coordinates to
generate 12 points and hence generate the 1 12 vectors of q, q , q .
c. Use the EL method to derive the inverse dynamics equations and use them to
calculate the 1 12 vector of using Matlab
d. Use the tic/toc commands in Matlab to measure your compute time for the last
process.
e. Use the NE method to derive the inverse dynamics equations and use them to
calculate the 1 12 vector of .
f. Use the tic/toc commands in Matlab to measure your compute time for the last
process and write two lines on the performance.
g. Derive a function in Matlab to fit cubic splines over the torque vector ,
keeping in mind that we know the time instances corresponding to these
torque values.
h. Use the LE formulation to compute the direct dynamics using the from
above and measure your compute time.
i. Compare the trajectory generated vis--vis the one we started with in part b
graphically.
Please make comments becoming of IIT students on the outcome of this experiment.

lg1 m1 m2 I1 I2 T

This lab report is due on 16/03/2016