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

Lecture Schedule

Tutorial Schedule

Textbook

• Spong, Hutchinson, Vidyasagar. Robot Modeling and Control . Wiley, 2020.

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.

Homework

Homework problems are submitted on Quercus by 5pm on the due date. Homeworks are graded based on (seriously) attempted problems, not correctness. Homeworks that are clearly written and complete are given a mark of 1. Poorly written or incomplete homeworks are given a mark of 0.

Laboratories

Labs take place in BA3114 and are performed in groups of two or three students. Lab groups are formed in the first lab. There are no make-up labs; you may not switch lab sections; and all labs must be performed in person, without exception, unless prior permission has been obtained from the instructor.

Lab 0 is an introduction to the KUKA robots and has no preparation or report, but it is a mandatory safety lab to proceed. Please note that you cannot continue in the course if you do not attend Lab 0. Labs 1-4 include a preparation and in-lab documents, both submitted on Quercus. The preparation is worth 3 marks, the in-lab component is worth 2 marks, and the report or code submission is worth 5 marks.

For Labs 1-4, each group will submit a preparation on Quercus 48 hours before the scheduled lab. Your Lab TA will review your work to make sure you are ready to perform the lab. Pre-labs that are submitted late will have 1.5 marks deducted.

One week after the scheduled lab by 5pm, each lab group will submit on Quercus any documents for the in-lab component, as per the lab sheet instructions. This second submission includes any matlab files and results for in-lab activities. Note that Quercus allows multiple attempts to submit materials, so the first attempt may be used for the preparation and the second attempt for the in-lab component. Finally, the instructions provided here override any variations you may see in the individual lab sheets.

Grading