Robot Control II

25-412

Spring 2008

Credits: 3

Level: Graduate, elective

Prerequisite: Modern Control

Hours: Sunday, Tuesday, 10:30-12:00

Location:

 

Assignment

Paper

 

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Course Syllabus:

Brief review of nonlinear systems (if necessary)

Force-motion control:

Impedance control,

Holonimic constraints,

Compliant environments

Cooperative robots:

Force/motion control,

Kinematics redundancy

Robotic systems under non-holonomic constraints:

Differential geometry background,

Controllability and accessibility,

Driftless systems,

Feedback linearization techniques,

Systems in chained forms,

Space robots:

Kinematics and dynamics modeling

Satellite control

Mobile robots:

Modeling and structural properties:

Kinematics and dynamics models

Trajectory planning

Motion control

Miscellaneous topics (if time allows)

 

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Grading:

Homework: 30%

Mid-term exam: 30%

Final exam: 40%

 

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References:

1. Theory of robot control, C. Canudas de Wit, B. Sicilliano and G. Bastin, Springer, 1996

2. Robot modeling and control, M. Spong, S. Hutchinson and M. Vidyasagar, John Wiley and sons, 2006, (SEE)

3. Modeling and control of robot manipulators, L. Sciavicol and B. Sicilliano, McGraw Hill, 1996

4. Introduction to Robotics: Mechanics and Control, (3^rd edition), John J. Craig, 2003

5. Spacecraft dynamics and control, M. Sidi, Cambridge university press, 1997

6. Nonlinear systems, H. Khalil, Prentice Hall, 1996

7. Nonlinear and adaptive control design, M. Krestic, I. Kanellakopoulos, P. Kokotovic, John Wiley and sons,  1995

Mars exploratory

Spirit rover

 

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