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Robot Control I 25-451 Fall 2010 Credits: 3 Level: Graduate, elective Prerequisite: Linear control systems Hours: Saturday, Monday, 1:30-3:00pm Location: B7
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Course description: The term Robot was first introduced by a Czech playwright Kerel Kapek in 1920. A robot is a programmable, multifunctional device designed to perform a verity of tasks including material handling, assembling, space exploration, servicing, welding, grinding and so on. Robotics has applications in space systems, medical surgery, industrial manufacturing, military and automotive systems. This course is concerned with developing and analyzing mathematical methods for modeling and control of robotic systems. Topics to be covered consist of:
Modeling and Identification of Rigid Manipulators: Rigid motions and homogeneous transformations, Kinematics modeling, Dynamics modeling, Euler-Lagrange equations, Trajectory planning Background on Control of Nonlinear Systems: Lyapunov stability, Passive systems, Stability of perturbed systems, Adaptive control of nonlinear systems using Back-stepping method*, Nonlinear observers and output feedback design*, Joint and Task-space Motion Control: State feedback: PID, Robust and Adaptive control, Friction compensation methods, Output feedback: Velocity and acceleration estimators*, Motion control without velocity measurement*, Motion control including actuator dynamics*, Control of flexible joint manipulators, Introduction to Force-Motion Control _____________________________________________________________________ Grading: Homework: 30% Mid-term exam: 30% Final exam: 40% _____________________________________________________________________ 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, (3rd edition), John J. Craig, 2003 5. Nonlinear systems, H. Khalil, Prentice Hall, 1996 6. Nonlinear and adaptive control design, M. Krestic, I. Kanellakopoulos, P. Kokotovic, John Wiley and sons, 1995 |
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New ASIMO humanoid of HONDA
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Canadarm2 mounted on the International Space Station (ISS)
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