EE 451

Title: INTRODUCTION TO ROBOT CONTROL

Catalog Description: Description and classification of robots. A general view of mechanics and kinematics for joints, links and gripper. Inverse kinematics. Determination of dynamical models. State-space representation and linearization of nonlinear models. Control of robots. Independent joint control. Force control. Trajectory planning and control.

Coordinator: Andon Venelinov Topalov, Visiting Associate Professor of Electrical Engineering.

Goals: To introduce students to the fundamentals of mechanics and control of robot manipulators.

Learning Objectives: At the end of this course, students will be able to:

1. Design simple manipulator mechanisms and control systems for manipulators
2. Solve problems requiring kinematic analysis of a manipulator structure.
3. Read and understand constantly emerging technical literature about the subject.

Reference Texts:

1. F. L. Lewis, C. T. Abdallah, D. M. Dawson, Control of Robot Manipulators, Macmillan, 1993.
2. L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators, Springer, 2000.

• Knowledge of linear algebra.
• Basic differential and integral calculus.
• Basic knowledge of control system design and simulation.

Topics:

1. Introduction and a general perspective on robotics. Objects in 3-D space. Positions, orientations and frames. Translations, rotations, transformations. Transformation arithmetic. (2 weeks).
2. Different manipulator designs. Manipulator kinematics. Frame assignments. Affixing frames to links. Computational considerations. Actuator space, joint space concepts. (2 weeks).
3. Inverse kinematics. Algebraic versus geometric computation. (1 week).
4. Manipulator dynamics. Acceleration of a rigid body structure of manipulator dynamics. Lagrangian formulation of manipulator dynamics. 2-link manipulator dynamics. (2 weeks).
5. Linear control of manipulators. Feedback control techniques. Servo and regulatory control of manipulators. Trajectory following control. Modeling and control of a single link arm. (2 weeks).
6. Dynamic simulation concepts. Simulation exercise. Disturbance rejection (1 week).
7. Nonlinear control of manipulators. Multi-input multi-output control. Feedback linearizing control. (2 weeks).
8. Stability concepts. Lyapunov stability analysis of manipulator control techniques. Adaptive control concepts. Adaptive control of robotic manipulators (2 weeks).

Course Structure: The class meets for three hours a week, each consisting of two 50-minute sessions. Three sets of homework problems are assigned per semester. There is one mid-term exam and a final exam.

Computer Resources: None.

Laboratory Resources: None

Grading:

1. Midterm Exam (%30)
2. Final Exam (%45)
3. Homeworks (%15)
4. Attendance (%10)

• Apply math, science and engineering knowledge. The students will be able to apply their knowledge of modelling and control of robot manipulators in such areas as computer integrated manufacturing, design of flexible manufacturing cells and process automation.

• Design a system, component or process to meet desired needs. Students will be able to design different control laws for simple industrial manipulators.

Prepared By: Andon V. Topalov

Last Revised: Sep 17, 2003