National University of Singapore
Departments of Electrical & Computer Engineering and Mechanical Engineering
EE5106/MCH5209/ME 5402:
Advanced Robotics
Term 2, 2002/2003
Course Outline:
Topic
1. Position and Orientation Transformations and Robot Kinematics of Position
Hours
9
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
2. Rigid Body Motion , Robot Kinematics of Velocity, and Robot Statics
6
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
3. Robot Trajectory Planning & Kinematic Robot Control
3
Point -to-point vs Continuous motion. Polynomials. Linear functions with
parabolic blends. Via points. Cartesian paths. Kinematic control.
4. 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.
8
Newton-Euler formulation of robot dynamics; Computational considerations.
5. Robot Positional Control
Independent joint control: based on PD and PID compensators, based on
feedforward 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.
7
6. 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.
7. Lab
3
3
Industrial Robots Demonstrations.
Total
39
References
Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. 2nd Edition
Springer Verlag, 2000.
Craig, J.J., Introduction to Robotics, Mechanics and Control, 2nd Edition, Addison Wesley,
MA. 1989.
Schilling, R.J., Fundamentals of Robotics Analysis and Control, Prenticel Hall, NJ, 1990.
Spong, M.W. and Vidyasagar, M., Robot Dyanmics and Control, John Wiley and Sons, NY,
1989.
Fu, K.S., Gonzalez, R.C., and Lee, C.S.G., Robotics: Control, Sensing, Vision, and
Intelligence, McGraw Hill, NY, 1987.
Paul, R.P., Robot Manipulators: Mathematics, Programming and Control, MIT Press, MA,
1981.
Klafter, R.D., Chmielewski, T.A., and Negin, M., Robotic Engineering, Prentice Hall, NY
1989.
Wolovich, W.A., Robotics: Basic Analysis and Design, Holt Rinehart and Winston, NY,
1987.
Shahinpoor, M., A Robot Engineering Textbook, Harper and Row, NY, 1987.
Andeen, G.B., et.al., Robot Design Handbook, McGraw Hill, NY 1988.
H. Asada and J-J.E. Slotine, Robot Analysis and Control, Wiley, 1986.
Other research publications (cited and/or distribited during appropriate lecture times)
Assessment
 Quizzes (open book)
 Final examination (open book)
Lecturers
Class Website: http://guppy.mpe.nus.edu.sg/~mpeangh/mch5209
Dr Marcelo H Ang Jr (Topics 1 to 3)
Department of Mechanical and Production Engineering
Office: E1-07-14,
Tel: 6874-2555, e-mail: mpeangh@nus.edu.sg
Dr. Sam Ge Shuzi (Topics 4 to 7)
Department of Electrical Engineering
Office: E4-05-31, Tel: 6874-6821,
e-mail: elegesz@nus.edusg