Robotics—Kinematics, Dynamics and Control

Graduate Course 2006

FRT005F

Robotics—Kinematics, Dynamics and Control

Graduate Course 2006

Spring Semester 2006

Lecture Hours

Thursdays 1530-1700 (3.30pm-5pm)

Date	Lecture	Note
May 4, 2006, 1530-1700	Introduction, Kinematics
May 11, 2006, 1530-1700	Kinematics
May 17, 2006, 1530-1700	Robot Dynamics
	Robot Motion Control
	Robot Motion Control—Passivity, Adaptive Control
	ABB Robotics S4 Robotic Control System Software
	Robot Trajectory Planning
	Robot Force Control
	Robot Vision
	Parallel Kinematic Manipulators
	Robot Cooperative Control and Manipulation
	Nonlinear Observers in Robotics

FRT005F Robotics—Kinematics, Dynamics and Control

This year's graduate course in robotics will contain seminars on the following topics

Robot Modeling and Control

Introduction
Kinematics
Abstract: Fundamental properties of motion and motion control such as kinematics and static stability are covered. Rigid body motion with screws and twists, homogenous coordinates, quaternions, Eulerian angles, roll-pitch-yaw reference frames. Kinematics of actuator space, joint space and Cartesian task space are treated using the Jacobian matrix and its singularities.
Robot Dynamics and Control
Abstract: d'Alembert principle, Euler-Lagrange equations, Newton-Euler dynamics, manipulator dynamics, Legendre transformation, Hamilton theory, Hamilton-Jacobi theory, Constrained motion, Optimal control.
Robot Motion Control
Passivity, Adaptive Control
Robot Vision
Nonlinear Observers in Robotics

Literature:

R. M. Murray, Z. Li and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation . CRC Press, 1994
M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, Inc., New York, 2005, 492 pages, ISBN: 0471765791
R. Johansson, Robotics―Kinematics, Dynamics and Control, Lund, 2006

Home Work Assignments

Home Work Assignment 1—Kinematics & Calibration
Home Work Assignment 2—Dynamics

Laboratory Experiments:

S4 Hands-on experiment;
Feedback Control using External Sensor Feedback;
(Robot Vision—Experients in Virtual Environment)

Project Outlines:

Task-level Programming with Feedback-control Support
Adaptive Control of Robot Motion
Adaptive Force Control

For more information: Rolf.Johansson@control.lth.se

When and where:

Introductory lecture is to be held at the Seminar Room, Dept. Automatic Control,

Tentative time for seminars is on Thursdays at 3.30pm-5pm. Seminars are to be held at the Department of Automatic Control, Seminar Room M:2112, M-building.

Note: Active participation is required. A piece of independent work is required in order to receive credits.

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Rolf Johansson
Last modified: Tue Nov 17 20:22:11 CET 2009