Serial robot dynamics
Download in PDF- Lecturer: Viviane PASQUI - Azad ARTINIAN (pasqui@isir.upmc.fr - artinian@isir.upmc.fr)
- Course code: UM4RBR23
- Student workload: 10h of lectures, 10h of tutorials, 8h of labs
- Credits: 3 ECTS
- Specialization tracks:
- Semester offered: S1 S2 S3 S4
- Language of instruction: French English
- Targeted audience: Eng. Sc. department Other :
- Localization : PMC Campus Other :
Course Overview
This course aims to train students in the dynamic modeling of serial robots. It presents the Newton-Euler and Lagrange methods for obtaining the equations of motion for tree-like kinematic systems.
Mots-clés : Rigid body, kinematics, kinetics, kinetic energy, potential energy, fundamental principle of dynamics, Newton-Euler equations, Lagrange equations, equations of motion, recursive Newton-Euler for inverse dynamics.
Prerequisites
Students should have previously acquired the following prerequisites to follow this course:
- Knowledge of the following mathematical tools: trigonometric functions, vector calculus, linear algebra, matrix calculus, differential calculus ;
- Knowing how to determine the geometric model of a robot;
- Know how to model a mechanical action and apply the Fundamental Principle of Statics;
- Know how to calculate linear velocity and angular velocity, calculate the kinetic energy of a point mass and a solid, calculate potential energy.
Intended Learning Outcomes
By the end of this course, students will be able to:
- Knowing how to use the right method of obtaining data depending on the complexity of the robot and the interest of the model;
- Knowing how to write the equations of motion for a serial robot with multiple degrees of freedom
- Know how to physically identify each term in the equations of motion
Indicative Teaching Sequence and Methods
| Week | C/TD/TP* | Content | Preparation | Learn.\ outc. |
|---|---|---|---|---|
| S1 | C1 (2H) | The different models for serial robots part 1 | AAV1 | |
| S2 | C2 (2H) | The different models for serial robots part 2 | AAV1-AVV2 | |
| S3 | TD1 (2H) | Training in obtaining kinematic models | AAV1-AVV2 | |
| S4 | TD2 (2H) | Entrainement à l'obtention des modèles cinématiques | AAV1-AVV2 | |
| S5 | Exam1 | Obtaining the kinematic model of serial robots | AVV2 | |
| S6 | C3 (2H) | Dynamic model based on general theorems | AVV2 | |
| S7 | TD3 (2H) | Dynamic model based on general theorems | AAV1-AVV2 | |
| S8 | C4 (2H) | Newton-Euler algorithm for obtaining the dynamic model of serial robots | AAV2-AAV3 | |
| S9 | TD4 (2H) | Newton-Euler algorithm for obtaining the dynamic model of serial robots | AAV2-AAV3 | |
| S10 | C5 (2H) | Obtaining the dynamic model of serial robots by writing Lagrange equations | AAV2-AAV3 | |
| S11 | TD5 (2H) | Obtaining the dynamic model of serial robots by writing Lagrange equations | AAV2-AAV3 | |
| S12 | TP1 | Getting to grips with the equipment, open-loop speed control of two serial robots, analysis and comparison of the behavior of the two robots with Motion Capture | AAV1-AVV2 | |
| S13 | TP2 | Handling of equipment, dynamic open-loop control of two serial robots, analysis and comparison of the behavior of the two robots with Motion Capture | AAV1-AVV2-AVV3 | |
| S14 | ER | Obtaining the dynamic model of serial robots | AAV1-AVV2-AVV3 |
- C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.
Indicative Assessment of Intended Learning Outcomes (1st session)
| Week | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| S7 | Individual | In-person | Written | AAV1-AAV2 | 25% |
| S12 | Individual | In-person | Labs | AAV1-AAV2 | 25% |
| S13 | Individual | In-person | Labs | AAV1-AVV2-AVV3 | 25% |
| S14 | Individual | In-person | Written | AAV1-AVV2-AVV3 | 25% |
2nde session
| Session | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| 2 | Individual | In-person | Written | AAV1-AVV2-AVV3 | 50% |
| 1 | Individual | In-person | Labs | AAV1-AAV2 | 25% |
| 1 | Individual | In-person | Labs | AAV1-AVV2-AVV3 | 25% |
Bibliographic references
- Fondamentaux de la robotique: Géométrie, cinématique, dynamique et commande; Clément Gosselin; Sciences Sup
- Arduino pour débutants: Créer son propre projet électronique; Benjamin Spahic
- Springer Handbook of Robotics; Bruno Siciliano, Oussama Khatib, Springer edition
Date of generation of this unit description: 14/01/2026
