Syllabus

ME4245: Robot Kinematics, Dynamics and Control (4 MCs)

   Introduction, Spatial Descriptions and Transformations, Manipulator Forward and Inverse Kinematics, Mechanics of Robot Motion, Robot Dynamics, Static Forces and Torques, Trajectory Planning, Robot Control

Contents                                                                      Hours (lecture + tutorial)

1.    Introduction, Spatial Descriptions and Transformations    5
Robot definition. Robot classification. Robotics system components. Notations. Position definitions. Coordinate frames. Different orientation descriptions. Free vectors. Translations rotations and relative motion. Homogeneous transformations.


2.    Manipulator Forward and Inverse Kinematics                  6
Link coordinate frames. Denavit-Hartenberg convention. Joint and end-effector Cartesian space. Forward kinematics transformations of position. Inverse kinematics of position. Solvability. Trigonometric equations. Closed-Form Solutions. Workspace.

3.    Mechanics of Robot Motion                                         6
Translational and rotational velocities. Velocity Transformations. The Manipulator Jacobian.  Forward and inverse kinematics of velocity. Singularities of robot motion.

4.    Static Forces and Compliance                                     3
Transformations of static forces and moments. Joint and End-Effector force/torque transformations.

5.    Robot Dynamics and Trajectory Planning                       10
Lagrangian formulation. Model properties. Newton-Euler equations of motion. Simulations. Joint-based motion planning. Cartesian-based path planning.

6.    Robot Control                                                           9
Independent joint control. Feedforward control. Inverse dynamics control.
Robot controller architectures. Implementation problems.    

        ___
Total                                                                             39



Assessment
2 Quizzes (30 %)
Final Exam (70%)

(All quizzes and final examination are open book/notes.)
    
References

Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. Second Edition (ISBN 1-85233-221-2), Springer Verlag, London, 2000. (Recommended for purchase)
Fu K.S.,, Gonzalez R.C., and Lee C.S.G. Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill, NY, 1987. (Recommended for purchase)
Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. McGraw Hill, 1996.
Craig, J.J., Introduction to Robotics, Mechanics, and Control. 2nd Edition. Addison Wesley, MA, 1989. (3rd Edition, if available)
Spong, M.W. and Vidyasagar, M., Robot Dynamics and Control, Wiley, New York, 1989.
Paul, Richard P., Robot Manipulators  : Mathematics, Programming, and Control : the Computer Control of Robot Manipulators, MIT Press,  Cambridge, Mass., 1981.
Lewis F.L., Abdallah C.T., and Dawson D.M., Control of Robot Manipulators, Maxwell Macmillan International, 1993.