Office Hours
book a time at mspenko.youcanbook.me
Course Description and Objectives
This course will give students a good grasp of the fundamentals of robotic systems including kinematics and dynamics as pertaining to manipulator and mobile robots, control methodologies for trajectory following (PD and adaptive control) as applied to manipulator arms, several common path-planning techniques as applied to manipulators and mobile robots. We will also spend several lectures covering robots that have made a significant impact to the field.
Grading
Homework - 25%, Test #1 - 25%, Test #2 - 25%, Test #3 - 25%. Homework is due at the beginning of class. Late homework will not be accepted under any conditions. All homework and the class project are to be done individually. Ask the professor for help if you need it!
Prerequisites
The only prerequisite is an undergraduate controls course. However, this course uses Matlab extensively. If you don’t know Matlab, it is fairly easy to learn if you know other languages. If you do not know how to program, this course will be difficult, but a great place to learn basic programming skills that you will use throughout your career. You will have to learn how to program Matlab at some time in your graduate career. It might as well be in this course.
Text
M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control Wiley (2006).
Ethics
It is unacceptable to turn in the same homework or code as another student. When caught, both parties will receive a zero for that homework and the previous homework. Cheating on a test will result in a zero for that test and zeros for all homework leading up to that test. Plagiarism on the final project, which includes lack of proper citations, will result in a failing grade for the class.
Topics
Introduction
Control of Robot Manipulators
book a time at mspenko.youcanbook.me
Course Description and Objectives
This course will give students a good grasp of the fundamentals of robotic systems including kinematics and dynamics as pertaining to manipulator and mobile robots, control methodologies for trajectory following (PD and adaptive control) as applied to manipulator arms, several common path-planning techniques as applied to manipulators and mobile robots. We will also spend several lectures covering robots that have made a significant impact to the field.
Grading
Homework - 25%, Test #1 - 25%, Test #2 - 25%, Test #3 - 25%. Homework is due at the beginning of class. Late homework will not be accepted under any conditions. All homework and the class project are to be done individually. Ask the professor for help if you need it!
Prerequisites
The only prerequisite is an undergraduate controls course. However, this course uses Matlab extensively. If you don’t know Matlab, it is fairly easy to learn if you know other languages. If you do not know how to program, this course will be difficult, but a great place to learn basic programming skills that you will use throughout your career. You will have to learn how to program Matlab at some time in your graduate career. It might as well be in this course.
Text
M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control Wiley (2006).
Ethics
It is unacceptable to turn in the same homework or code as another student. When caught, both parties will receive a zero for that homework and the previous homework. Cheating on a test will result in a zero for that test and zeros for all homework leading up to that test. Plagiarism on the final project, which includes lack of proper citations, will result in a failing grade for the class.
Topics
Introduction
- Brief History
- Levels of autonomy
- Terminology
- Forward and inverse kinematics
- The Jacobian and singularities
- Kinematic optimization
- Out-of-plane manipulators and the Denavit-Hartenberg convention
- Mobile robot forward kinematics
Control of Robot Manipulators
- PD control
- Nonlinear Control
- Stability
- Lyapunov’s Direct Method
- Adaptive Control
- Configuration space
- Potential fields