ECE470 Robot Modeling and Control (Last updated: November 19, 2017)

Course Description

Classification of robot manipulators, kinematic modeling, forward and inverse kinematics, velocity kinematics, path planning, point-to-point trajectory planning, dynamic modeling, Euler-Langrange equations, inverse dynamics, joint control, computed torque control, passivity-based control, feedback linearization.


Learning Objective

To model, to perform motion planning, and to control a robotic manipulator.


Teaching Staff

Prof. M.E. Broucke GB434A LEC 01 broucke at control.utoronto.ca
Zach Kroeze GB348 TUT 01, TUT 02 zach.kroeze at mail.utoronto.ca
Andrew Lim GB348 PRA 05, PRA 06 andrewwilliam.lim at mail.utoronto.ca
Tian Xia GB348 PRA 01, PRA 02, PRA 07 t.xia at mail.utoronto.ca
Siqi Zhou GB348 PRA 03, PRA 04 siqi.zhou at mail.utoronto.ca


Lecture Schedule

Section Day and Time Location Dates
LEC 01 Mon 9-10 WB119 October 2 in HA403
  Wed 9-10 WB119  
  Fri 11-12 HA403 Starts September 8


Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 Zach Kroeze Fri 9-11 BA2155 Sept 22, Oct 6, Oct 20, Nov 3, Nov 17, Dec 1
TUT 02 Zach Kroeze Fri 9-11 BA2155 Sept 15, Sept 29, Oct 13, Oct 27, Nov 10, Nov 24


Textbook


Course Outline

The following table shows the lecture topics. Note that the lecture schedule may be updated as the semester progresses, so it's a good idea to check the webpage periodically.

Week Date Lecture Topics
1 Sept 4 1       Introduction
2 Sept 11 2 Common kinematic configurations
    3 Rigid motions; Points and vectors; Rotations
    4 Rotation matrices; Elementary rotations; Rotational transformations
3 Sept 18 5 Change of reference frame; Composition of rotations
    6 Euler angles; Rigid motions
    7 Change of coordinates; Composition of rigid motions; Homogeneous transformations
4 Sept 25 8 Elementary homogeneous transformations; Forward kinematics; DH convention
    9 DH convention exceptions; Examples
    10 DH table to homogeneous transformation matrices; Inverse kinematics problem
5 Oct 2 11 Inverse kinematics problem
    12 Inverse orientation problem; Velocity kinematics
    13 Angular velocity
6 Oct 9 14 Instantaneous axis of rotation; Linear velocity; Addition of angular velocities
    15 Robot Jacobian
    16 Inverse velocity kinematics
7 Oct 16 17 Inverse velocity kinematics; End effector forces and torques
    18 Kinematic singularities
    19 Motion planning; Artificial potential approach
8 Oct 23 20 Attractive potential design; Repulsive potential
    21 Repulsive potential; Gradient descent
    22 Spline interpolation
9 Oct 30 23 Decentralized control of robots
    24 Robot modeling: mass particle example
    25 Robot modeling; holonomic constraints; Generalized coordinates
10 Nov 6 26 Virtual displacements; Lagrange D'Alembert principle; Euler-Lagrange equations
    27 Euler Lagrange equation; Kinetic energy of a rigid body
    28 Kinetic energy of a rigid body
11 Nov 13 29 Derivation of robot Lagrangian
    30 Equations of motion of a robot; Pendulum on a cart example
    31 Pendulum on a cart example; Double pendulum
12 Nov 20 32 Double pendulum; Centralized Robot control; Feedback linearization
    33 Feedback linearization; Equilibria and stability; Lyapunov's stability theorem
    34 LaSalle's invariance principle
13 Nov 27 35 PD control with gravity compensation
    36 Passivity; passivity-based control
    37 Passivity-based controllers; Adaptive control
14 Dec 4 38 Adaptive passivity-based control and computer demo
    39 TBA


Homework

Homework problems are turned in at the beginning of the lecture on the dates below. Homeworks are graded based on (seriously) attempted problems, not correctness. Homeworks that are clearly written out and reasonably complete are given a mark of 1. Messy or largely incomplete homeworks are given a mark of 0.

Homework Chapter Problems Due Date
1 Chapter 2 1, 2, 10, 11, 12, 13, 15, 23, 37, 38, 39, 41 Oct 6
2 Chapter 3 2, 3, 4, 5, 6, 7, 13 Oct 20
3 Chapter 3 15, 18; Chapter 4: 13 (swap phi and psi in problem statement), 15, 18, 20 Nov 17
4 Chapter 7 7, 8 (use Euler-Lagrange Method), 12, 13 Dec 1


Laboratories

Labs take place in BA3114 and are performed in groups of two students. Each lab includes a preparation and a report. The preparation for the first lab is submitted individually. Thereafter, each group submits one preparation at the beginning of the lab and one report one week after the scheduled lab (one report per group), in a drop box labeled "ECE470", box #15, basement of Sandford Fleming. There are no make-up labs. If you miss a lab you cannot show up at a different lab section. You may not switch lab sections. The TA will take attendance at each lab session.

Section Day and Time Lab 1 Lab 2 Lab 3 Lab 4
PRA 01 Thu 9-12 Oct 5 Oct 19 Nov 16 Nov 30
PRA 02 Thu 9-12 Sept 28 Oct 12 Nov 9 Nov 23
PRA 03 Thu 15-18 Oct 5 Oct 19 Nov 16 Nov 30
PRA 04 Thu 15-18 Sept 28 Oct 12 Nov 9 Nov 23
PRA 05 Tue 15-18 Sept 26 Oct 10 Nov 7 Nov 21
PRA 06 Tue 15-18 Oct 3 Oct 17 Nov 14 Nov 28
PRA 07 Mon 15-18 Sept 25 Oct 16 Nov 6 Nov 20


Grading

Labs 20% Includes preparation, lab work, and report
Homework 5%  
Midterm 25% Monday, October 23, 6-8pm, MC 252
Final Exam 50% December 8, 2-5pm