Announcements:
HW6 assigned. Due 5/4/17
Lecture handouts:
1: Introduction
2: Rigid Motions and Homogeneous
Transformations
3: Forward and Inverse Kinematics and the
DenavitHartenberg Convention
Clarification on spherical wrist DH frames
3.5: Summary of Inverse Kinematics Solutions
and Robotics Toolbox
4: Velocity Kinematics and the Jacobian
4.5: Manipulability Ellipsoid
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 EulerLagrange
Modeling
10: EulerLagrange Modeling of
Manipulators
10.5: LaSalle's Invariance Principle and
Barbalat's Lemma
11: Multivariable Control of Robotic
Manipulators Part I: Independent Joint PD and Inverse
Dynamics
(Updated)
12: Multivariable Control of Robotic
Manipulators Part II: Adaptive Inverse Dynamics,
PassivityBased Robust and Adaptive Approaches
13: Overview of Observers and Output
Feedback: Linear Case
14: Overview of Observers and Output
Feedback: HighGain and Sliding Mode Observers
15: Energy Considerations and Research in
Control of Robots with Energy Regeneration
Handwritten
Class Notes (iPad):
Notes 1/24/17
Notes 1/26/17
Notes 2/2/17
Notes and code constrained optimization
2/7/17
Notes and code on drilling optimization
2/7/17
Notes 2/9/17
Notes 2/23/17
Notes 3/21/17
Notes 3/23/17
Notes 3/28/17
Notes 3/30/17
Notes 4/11/171
Notes 4/11/172
Notes 4/13/17
Notes 4/18/17
Notes 4/20/17
Notes 4/24/17
Data and Programs:
Corke's Robotics Toolbox for Matlab
Class example (joint space boundaries and
dexterous set)
Class example (inverse orientation with Euler
angles. Edit to use your own transformation functions!)
Class example (inverse kinematics with Corke's
Robotics Toolbox)
Class example (inverse kinematics with Corke's Robotics Toolbox) Feb 2017
Class example (singular value decomposition)
Class example (Electromechanical time
constants and linmod)
Class example (Twoloop PID voltage control)
Class example (Practical system
identification, electromechanical model)
Practical system identification guide (MCE484)
Class example (equilibrium finding and
linearization) Feb 2017
Class example (closedloop compensation
Simulink) Feb 2017
Class example (cartpendulum linearization and
statefeedback, LQR) Feb 2017
Example on unconstrained minimization with fminunc
example1.mdl
example2.mdl
example3.mdl
antiw.mdl
anti_windup_demo.m
example4.mdl
reg_attract.m
stateder.m
example6.mdl
Cylindrical Manipulator Dynamics Example
Prosthesis Test Robot Dynamics Example
CartPendulum Dynamics Example
Files for nonlinear Simulink simulation
example (.zip)
Files for 2DOF PUMA dynamics model (zip)
Files for cartpendulum inverse dynamics control (zip)
Files for robust passivitybased controller
example (.zip)
Files for adaptivepassivitybased
controller example (.zip)
Additional files for observerbased
adaptivepassivitybased controller example (.zip)
Case study files
Sliding Observer files
Homeworks 2017
HW1 (due 2/2/17) (corrected statement:
1/25/17)
HW2 (due 2/16/17)
HW3 (due 2/28/17)
Homeworks 2015
HW1 (part 1 due 1/20/15, part 2 due 1/27/15)
HW2 (due 2/5/15)
HW3 (due 2/19/15)
HW4 (due 3/5/15)
HW5 (due 4/7/15)
HW6 (due 4/23/15)
Files for HW6 (.zip)
HW7 (optional, due 5/8/15)
Exams 2017
Solutions
2017
HW1
HW2 (by Hanieh Mohamadi)
Inclass midterm
HW3 (by Brahm Powell)
Exams 2015
Solutions 2015:
HW2 (by Brad Humphreys and Sandra Hnat)
HW3 (by Hanz Richter and Curt Laubscher)
HW4 (by Poya Khalaf)
Projects (2017):
Project selection (due April 4)
Projects (2015):
Call for proposals (due April 3)
Projects (2013):
Final Project, Part I (instructions and
code, zip)
Final Project, Part II (instructions and
code, zip)
Final Project, Part III (instructions, data
and code, zip)
Interesting
Videos:
ASIMO Robot conducts the
Detroit Symphony
Passive robotic walking
Push recovery control in
walking robots
Powered Exoskeleton










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