 Dynamics of Robotic Systems
Course Summary: Motion planning and control of articulated dynamic systems: nonlinear joint control, experiments in joint control and multiaxis coordination, multibody dynamics, trajectory planning, motion optimization, dynamic performance and manipulator design, kinematic redundancies, motion planning of manipulators in space, obstacle avoidance.
Recommended preparation: courses 155, 171A, 263A,
Assignments & Grading:
HW Assignments - Problem Sets 20%
Paper Review (HW 0) 5%
Mid Term Exam (Take Home) 30%
Final Exam (Take Home) 40%
Participation 5%
Textbook:
(*) John Craig, Introduction to Robotics: Mechanism & Control, 4ed Edition, Addison Wesley 2018
(*) Lung-Wen Tsai, Robotic Analysis, Wiley 1999,
Ch. 9, Dynamics of Serial Manipulators
(*) Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah, Robotics, Springer 2019
Chapter 10: Robot Control
Class Notes
Introduction
Class 00: Class Introduction
Class 01: Introduction & Basic Ideas
Direct & Inverse Kinematics (Review)
Class 02: Special Description & Transformation (Review)
Class Supplement: Equivalent angle axis vector
Class 03: Direct Manipulator Kinematics (Review)
Class 04: Inverse Manipulator Kinematics (Review)
Trajectory Generation
Class 04: Trajectory Generation (1/2)
Class 05: Trajectory Generation (2/2)
Jacobian
Class 06: Advanced Kinematics (Velocities - Linear & Angular)
Class 07: Jacobian - Introduction
Class 08: Jacobian - Velocity Propagation Method - Part 1
Class 09: Jacobian - Velocity Propagation Method - Part 2
Class 10: Jacobian - Force Propagation Method
Class 11: Jacobian - Explicit Method
Class 12: Jacobian - Implications & Applications
Dynamics
Class 13: Dynamics - Newton-Euler Eqautions - Theory (1/4)
Class 14: Dynamics - Tensor of Inertia (2/4)
Class 15: Dynamics - Newton-Euler Eqautions - 2R Example (3/4)
Class 16: Dynamics - Lagrange Equations - Theory & 2R Example (4/4)
Control
Class 17: Control Design - PID Design
Class 18: Control Design - Bode Design (Lead/Lag)
Class 19: Control Design - Nyquest Design (Gain/Phase Margins)
Class 20 : Intro to Control Systems - Control Scheme 1
Class 21 : Intro to Control Systems - Control Scheme 2
Section Notes (TA)
Section 01: Forward & Inverse Kinematics (Yasukawa Motoman L-3)
Section 02: Robotics - Matlab ToolBox (Matlab Example - XML )
Section 03: Jacobian - Velocity Propagation Direct Diff (SCARA)
Section 04: Jacobian - Force Propagation (SCARA)
Section 05: x
Section 06: x
Section 07: x
Section 08: x
Section 09: x
Projects - Homework
Homwork 0 - Presentataion
Homwork 1 - Design
Homwork 2 - Trajectory
Homwork 3 - Jacobian Derivation
Homwork 4 - Jacobian - Design Optimization
Homwork 5 - Dynamics
Labs (Denso Robotic Arms)
Lab 0
Lab 1
Lab 2
Lab 3
Lab 4
Exams (Take Home)
Midterm Exam - Take Home - Due Week 6 (Friday Midnigh)
Final Exam
- Take Home - Due Week 12 (Friday Midnight)
Matlab
Robotic Toolbox - Free (by Corke)
Robotics Toolbox (Release 10)
Introduction to Robotics Toolbox for MATLAB (Powerpoint Slides - TA)
The book Robotics, Vision & Control, Second Edition (Corke, 2017) is a detailed introduction to mobile robotics, navigation, localization; and arm robot kinematics, Jacobians and dynamics illustrated using the Robotics Toolbox for MATLAB (Availble on-line to UCLA Students)
Robotics and Control Fundamental Algorithms in MATLAB (Corke, 2022)
Robotic Vision Fundamental Algorithms in MATLAB (Corke, 2022)
Matlab Code (Robotic Toolbox)
Puma 560 (Modified DH) - StdMod_puma560.m
Robotic Toolbox (by Mathworks)
Matlab Demo
Robot Manipulation, Part 1: Kinematics
Robot Manipulation, Part 2: Dynamics and Control
Trajectory Planning for Robot Manipulators
Mathematica Demos (Robotics)
Note: A viewer is required for running the demos off line
Special Description & Transformation
Randomize Motion for Six Degrees of Freedom
Mathematica Demo
Robot Manipulator Workspaces
YouTube Explanation
Mathematica Demo
Denavit-Hartenberg Parameters for a Three-Link Robot
Mathematica Demo
Common Robot Arm Configurations
Mathematica Demo
Three Parametrizations of Rotations Configurations
YouTube Explanation
Mathematica Demo
Forward and Inverse Kinematics
Model of an Industrial Robot Arm
Mathematica Demo
Inverse Kinematics for a Robot Manipulator with 6 DOF
Mathematica Demo
Forward Kinematics
Mathematica Demo
Inverse Kinematics
Mathematica Demo
Forward and Inverse Kinematics of the SCARA Robot
Mathematica Demo
A Model of the SCARA Robott
Mathematica Demo
Kinematics of SCARA Robot in 2D
Mathematica Demo
Kinematics of a Redundant Anthropomorphic Arm with 7 DOF
Mathematica Demo
Inverse Kinematics in Redundant Robot Manipulator (Swivel Angle)
YouTube Explanation
Mathematica Demo
Manipulability
Forward and Inverse Kinematics for Two-Link Arm
Mathematica Demo
Manipulability Ellipsoid of a Robot Arm
Mathematica Demo
Trajectory Planning
Trajectory Planning of Robot for Painting Art
Mathematica Demo
Autolev
Class Notes: Introduction to Autolev
Class Video (1/2) - Introduction - Example (3R)
Class Video (2/2) - Example - Industrial Robot (6R)
Autolev Code (Zip)
Industrial Robotic Arms - Companies
Expo 21XX - Generic List
Denso Robotics (*,+)
KUKA (*,+)
Motoman (+)
Staubli (*,+)
FANUC (+)
Adept (*,+)
ABB (*,+)
Mitsubishi (+)
Kawasaki (+)
Epson (*,+)
Notes
(*) CAD files are available on-line
(+) Data sheet / Specs / Schematic drawings are available on-line
Videos (YouTube)
General Video
Videos - Modern Robotics Northwestern University
Book - Kevin Lynch, Frank Park, Modern Robotics - Mechanics, Planning, and Control
DH Parameters
Denavit-Hartenberg Reference Frame Layout
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