MCE/EEC 647/747 - Robot Dynamics and Control

Course Materials

Syllabus

Lecture handouts:

1: Introduction
2: Rigid Motions and Homogeneous Transformations (UPDATED)
3: Forward and Inverse Kinematics and the Denavit-Hartenberg Convention (UPDATED)
4: Velocity Kinematics and the Jacobian
5: Review of Classical Cascade Compensation
6: Independent Joint Control Part I: Classical Methods
7: Overview of State Space Methods
8: Basic Lyapunov Stability Theory
9: Introduction to Euler-Lagrange Modeling
10: Euler-Lagrange Modeling of Manipulators
11: Multivariable Control of Robotic Manipulators- Part I: Independent Joint PD and Inverse Dynamics
12: Multivariable Control of Robotic Manipulators- Part II: Adaptive Inverse Dynamics, Passivity-Based Robust and Adaptive Approaches
Detailed stability proofs: Adaptive Inverse Dynamics, Passivity-Based Robust and Adaptive Approaches

13: Overview of Observers and Output Feedback: Linear Case
14: Overview of Observers and Output Feedback: High-Gain and Sliding Mode Observers

Guidelines for implementing a soft real-time controller for the PUMA 560 Arm using V+ operating system commands

Data and Programs:
example1.mdl
example2.mdl
example3.mdl
antiw.mdl
anti_windup_demo.m
example4.mdl
reg_attract.m
stateder.m
example6.mdl
Files for robust passivity-based controller example (.zip)
Files for adaptive-passivity-based controller example (.zip)
Additional files for observer-based adaptive-passivity-based controller example (.zip)

Homeworks (2012):
1
2

Homeworks (2010):
1
2
3
4

Homework Solutions (2010):

1
2
1st Midterm (in class)
1st Midterm (take home)

Projects (2010):
Term Project: Parts 1, 2 and 3

Term Project: Paper by Armstrong
Term Project: Paper by Corke and Armstrong

Projects (2008):
Term Project
Solution by student Dmtry Storozhev (example of what is expected)

Homework Solutions (2008):
1: Probs. 2-38 and 2-39
2: Prob. 3-10
1st Midterm

Interesting Links:

Honda Humanoid Robots

NASA Dynamics and Control Branch

Last changed: 09/25/2008, 14:34:40