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 |
Section | Day and Time | Location | Dates |
LEC 01 | Mon 9-10 | HA403 | |
Wed 9-10 | HA403 | ||
Fri 11-12 | HA403 | Starts September 8 |
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 |
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 problems are turned in at the beginning of the tutorial section 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 | TUT 01 Due Date | TUT 02 Due Date |
1 | Chapter 2 | 1, 2, 10, 11, 12, 13, 15, 23, 37, 38, 39, 41 | Oct 6 | Sept 29 |
2 | Chapter 3 | 2, 3, 4, 5, 6, 7, 13 | Oct 20 | Oct 13 |
3 | Chapter 3 | 15, 18; Chapter 4: 13 (swap phi and psi in problem statement), 15, 18, 20 | Nov 17 | Nov 10 |
4 | Chapter 7 | 7, 8 (use Euler-Lagrange Method), 12, 13 | Dec 1 | Nov 24 |
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 |
Labs | 20% | Includes preparation, lab work, and report |
Homework | 5% | |
Midterm | 25% | Monday, October 23, 6-8pm, MC 252 |
Final Exam | 50% | TBA |