EE
5325/4315 - Robotics
COURSE OUTLINE
Revised: Wednesday, January 11, 2023
Systems, Controls, and Manufacturing Thrust Area
Notes have been scanned from F.L. Lewis, C.T. Abdallah, and D.M. Dawson, "Control of Robot Manipulators", whose copyright is retained by F.L. Lewis.
� History and Basic Concepts.
� Examples of commercial robots
� Geometric Structure of Robot Manipulators
o Basic Manipulator Geometries
o
Kinematics,
Inverse Kinematics
o Jacobian, force transformation, Arm Jacobian. �
� Lagrange-Euler Robot Dynamics
o Lagrange's Equations of Motion
o Structure and Properties of the Robot Equation
o State-Variable Representations
o Cartesian and Other Dynamics
� Path Planning and Trajectory Generation
o Path planning and trajectory generation for manipulators
� Review of Classical Control techniques
o PD/PID Control, lead/lag compensators
o Rate loop. position loop design
� Basic robot control techniques
o Computed-Torque Control
� PD and PID computed torque Part I, Part II
� A class of CT controllers, PD gravity, classical joint control Part I, Part II
� Digital CT control Part I, Part II
o Optimal Control
F.L. Lewis, D. Vrabie, and V. Syrmos, Optimal Control, third edition, John Wiley and Sons, New York, 2012.
� Nonrobotic robotlike Systems
� End effectors and end-of-arm tooling
� Sensors for robot systems
o Tactile, proximity, position, velocity, force, torque
o Sonar
o Vision
� Supervisory control of robot workcells
o Sequencing the operations- Task decomposition and planning
o Resource assignment and Deadlock
o Real-time supervisory control
� Mobile robots and vehicles
o Behavior-based control
o Navigation and guidance
� Including in the half period of the semester: Programming
laboratory exercise of a real CRS A465
robotic arm.
Maybe:
o Filtered Error Control