Tentative Course Timetable
|Week 1||Introduction: Robotics: A human dream comes true, robotics definition and evolution, serial and parallel robots, cylindrical, spherical, cartesian, SCARA, and different parallel robots, robotics application, ARAS developed robots.|
|Week 2||Motion Description: Robot components, coordinate systems, position and orientation representation, rotation matrix, rotation matrix properties, screw axis, unit quaternion, Euler angles. Chasles’s theorem, rotation plus orientation, screw axis representation, homogeneous transformation, and arithmetics.|
|Week 3||Forward Kinematics Analysis: Definitions, kinematic loop closure, forward and inverse kinematics, joint, and task space variables, forward kinematics, motivating example, geometric and algorithmic approach, frame assignment, DH parameters,DH homogeneous transformations, case studies, successive screw method, screw-based transformations, Case studies.|
|Week 4||Inverse Kinematics Analysis: Inverse problem, solvability, existence of solutions, reachable and dexterous workspace, methods of solution, algebraic, trigonometric, geometric solutions, reduction to polynomials, Pieper’s solution, method of successive screws, Case studies.|
|Week 5||Differential Kinematics: Definition of angular and linear velocities, rotation matrix rate related to the angular velocity and Euler angle rates, twist and wrench. Definition of Jacobian map, motivating example, direct method, general and iterative methods, case studies.|
|Week 6||Differential Kinematics: Screw-based Jacobian, general and iterative methods, case studies. Static wrench and Jacobian transpose, the principle of virtual work, singularity, singularity decoupling, dexterity, dexterity ellipsoid, isotropy, manipulability, condition number.|
|Week 7||Differential Kinematics: Inverse Jacobian solutions, fully-, under-, and redundantly-actuated robots, redundancy resolution, optimization problem, inverse acceleration, obstacle avoidance, singularity circumvention, stiffness analysis, sources of compliance, Compliance and stiffness matrix, force ellipsoid, case studies.|
|Week 9||Dynamics: Linear and angular acceleration, Lagrange method, general derivation method, case studies.|
|Week 10||Dynamics: properties of manipulator dynamics, iterative Lagrange method, case studies.|
|Week 11||Path Planning: Joint space and Cartesian space methods, cubic interpolation, Parabolic Blend interpolation, multiple points with via points.|
|Week 12||Linear Position Control: Robots with gearbox, dynamic remodeling, linear identification, linear controller design.|
|Week 13||Nonlinear and Robust Control: General controller topology, Feedforward control, Feedback linearization, computed torque method. Cartesian space control schemes, Inverse Jacobian method, Jacobian Transpose method, Modified JT method.|
|Week 14||Force and Impedance Control: The general topology, virtual damper-spring concept, force measurements, Stiffness control, force control schemes, force-position control, matrix inclusion method, hybrid force-motion control topology,|
|Week 15||Force and Impedance Control: Impedance definition, Impedance control topology, Impedance control methods, relation to Stiffness control.|
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HW 05 | Sol 05
Research Task 01:
Explore methods to remedy the degeneracy and singularity of the inverse problems in different orientation representations.
Research Task 03:
The usual control strategy for robot manipulators is based on current or torque feedback. Research on the voltage or velocity control schemes, and comment on the shortcomings, and physical considerations
Research Task 04:
Please work on this research after the neaxt TA session, in which experimental implementation of Robot Calibration is being presented to you by the TA group.