Advanced Robotics
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, 263C
Assignments & Grading:
HW Assignments - Problem Sets 20%
Paper Review 5%
Mid Term Exam (Take Home) 30%
Final Exam (Take Home) 40%
Participation 5%
Textbook: John Craig, Introduction to Robotics: Mechanism & Control, 3ed Edition, Addison Wesley 2003
Class Notes
Class 01 : Class 01A: Introduction & Basic Ideas
Class 02 : Class 02A: Special Description & Transformation (Review)
Class Supplement: Equivalent angle axis vector
Class 03 : Class 03A: Direct Manipulator Kinematics (Review)
Class 04 : Class 04A: Inverse Manipulator Kinematics (Review)
Class 05 : Class 05A: Jacobian: Velocities and Forces (1/4)
Class 06 : Class 06A: Linear and Angular Velocities (2/4)
Class 07 : Class 07A: Velocity propagation (3/4)
Class 08 : Class 08A: Jacobian: Velocity propagation (4/4)
Class 09 : Class 09A: Manipulator Dynamics (1/4)
Class 10 : Class 10A: Manipulator Dynamics (2/4)
Class 11 : Class 11A: Manipulator Dynamics (3/4)
Class 12 : Class 12A: Manipulator Dynamics (4/4)
Class 13 : Class 13A: Trajectory Generation
Class 14 : Class 14A: Intro to Control
Matlab Code (Robotic Toolbox)
Puma 560 (Modified DH) - StdMod_puma560.m
Autolev
Class Notes: Introduction to Autolev
Class Video (1/2) - Introduction - Example (3R)
Class Video (2/2) - Example - Industrial Robot (6R)
Autolev Code (Zip)
Supplement References
Journals
IEEE Transactions on Robotics
IEEE Transactions on Automation
IEEE / ASME Transactions on Mechatronics
The International Journal of Robotics Research
Journal of Field Robotics
Journal of Intelligent and Robotic Systems
Robotica
Robotics and Autonomous Systems
Con frances
ICRA
IROS
Biorob
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
Matlab
Robotics Toolbox (Release 9 Dec. 2011)
The book Robotics, Vision & Control (Corke, 2011) is a detailed introduction to mobile robotics, navigation, localization; and arm robot kinematics, Jacobians and dynamics illustrated using the Robotics Toolbox for MATLAB - See Chapter 7
Homework
HW 0 - Presentataion - Review three journal papers (1 journal paper = 2 conference paper). Give a 10 min presentation of a robotic system or an algorithm including:
Algorithm
Define the problem
Define the solution
Describe the Algorithm
Describe numerical / analytical problems
Real-time / off-line
Link the content of the paper to one of the topics thought in class.
List the references.
Robotic System
Name
Application
Physical Dimensions (Height, Length ,Weight)
Sensors & Actuators
Power Source
Control Algorithms
Cost Project Status
Web Site
Link the content of the paper to one of the topics thought in class.
List the references.
Robotic Arms Libraray
HW 1 - DH Parameters & Direct Kinematics
Define the DH Parameters of the robotic systems in the library and derive the Direct Kinematics explicitly defining the homogeneous transformation matrix (base to tool)
HW 1 Solution HTML
HW 1 Solution PDF
HW1.m
DH2Robot.m
HW 2 - HW 2 Solution - Inverse Kinematics
Derive the Inverse Kinematics of each robotic arm in the library using two methods:
(1) Geometric Approach
(2) Analytical Approach.
Define an expression for each DOF and explain / sketch the multiple solutions. Note that each angle must be define using the function Atan2(*).
HW 3 - HW 3 Solution - Jacobian
Derive the Jacobian matrix for each robotic arm in the library using three methods and expressed them all in frame 0. Note that once the Jacobian is expressed in the same frame (e.g. Frame 0) the expression is the same regardless of the method used to derive it.
(1) Direct Derivative (Expressed in Frame 0)
(2) Velocity Propagation (Expressed in Frame N)
(3) Force Propagation (Expressed in 0).
Calculate the determinate of the Jacobian and define the singular configurations of each arm. Note that there might be more than on singular configuration. Sketch the singular configurations.
HW 4 - HW 4 Solution - Dynamics
For the versions of the 2 DOF arm presented in class derive the equations of motion using the alternative method. For the first version in which the CM is located in the joints use the Lagrange method. For the second version in which the CM is located in the middle of the link use the Newton-Euler method.
For the Manipulator 3D-1-RRR derive the equations of motion using the two methods. Assume that the CM for each link is Lci units of length from the joint.
Midterm Exam
Form (Word File)
Final Exam
Form (PDF File) |