Course Details
Subject {L-T-P / C} : EE6335 : Robotics and Automation { 3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Bidyadhar Subudhi
Syllabus
Transformations and Kinematics of Position: Homogeneous transformations Rotation matrices Three and four parameter representations for orientation Mathematical Singularities Robot kinematic modeling Forward kinematics Inverse kinematics problem: closed-form and numerical solutions Concept of decoupling. Kinematics of Velocity and Robot Statics: Translational and rotational velocities Velocity transformations Jacobian transformations Derivatives of homegeneous transformation matrices Forward kinematics Inverse kinematics of velocity Static force/torque transformations Recursive equations of motion and static force/torque relationships. Trajectory Planning and Kinematic Control: Point-to-point vs Continuous motion. Polynomials. Linear functions with parabolic blends. Via points. Cartesian paths. Kinematic control. Robot Dynamics: Euler-Lagrange equations Lagrangian approach to robot dynamics Actuator dynamics Properties of the robot dynamic model: inertial coefficients, centrifugal and coriolis coefficients, and gravity terms. Newton-Euler formulation of robot dynamics Computational considerations. Robot Positional Control: Independent joint control: based on PD and PID compensators, based on feed forward control State-space modelling and analysis Lyapunov stability analysis Multivariable PD control Computed-Torque control Implementaion and robustness issues Cartesian based control schemes Robust control methods Adaptive control methods. Robot Compliance and Force Control: Compliance and stiffness Force control in a single DOF system Impedance control Hybrid force and position control Stability issues and other problems Simultaneous force / position control of constrained robots. Discrete geometry and quantization, length estimation, automated visual inspection, object recognition and matching, depth perception problems, stereo geometry and correspondences, motion analysis, optical flow, multi-resolution processing of images, application of computer vision, remote sensing, target tracking.
Course Objectives
- To learn kinematics and dynamics
- To design controllers for robotic systems for trajectory tracking , navigation tasks
- To Learn trajectory planning
Course Outcomes
CO1: Learn kinematics and dynamics of robots <br />CO2: Modeling and analysis of robotic manipulators (serial chain of rigid bodies connected by actuated joints) <br />CO3: Controller design for motion and force control of robotic manipulators
Essential Reading
- L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, Springer, 2007
- K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987
Supplementary Reading
- F.L. Lewis, D.M. Dawson, and C.T. Abdallah, , Robot Manipulator Control: Theory and Practice, Marcel Dekker,New York, 2004
- R.J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall, NJ, Digitized Dec 5, 2007