ECE470 Robot Modeling and Control
(Last updated: October 18, 2023)
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
| GB342
| LEC 01
| broucke at control.utoronto.ca
|
Mohamed Hafez
| GB348
| TUT 01, TUT 02
| mohamed.hafez at mail.utoronto.ca
|
Luiz Dias Navarro
| GB348
| PRA01, PRA02
| luiz.navarro at mail.utoronto.ca
|
Masoud Moghani
| GB348
| PRA05, PRA06
| masoud.moghani at mail.utoronto.ca
|
Mohamed Hafez
| GB348
| PRA03, PRA04
| mohamed.hafez at mail.utoronto.ca
|
Lecture Schedule
Section |
Day and Time |
Location |
Dates |
LEC 01
| Mon 5-6pm
| BA1190
|
|
| Wed 5-6pm
| BA1130
|
|
| Thu 5-6pm
| BA1190
| Starts September 7
|
Tutorial Schedule
Section |
TA |
Day and Time |
Location |
Tutorial Dates |
TUT 01
| Mohamed Hafez
| Wed 3-4pm
| SF3201
| Starts Sept 13
|
TUT 02
| Mohamed Hafez
| Thu 4-5pm
| GB244
| Starts Sept 14
|
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.
Week |
Date |
Lecture |
Topics |
Important Dates |
1 |
Sept 7 |
1 |
Introduction |
|
2 |
Sept 11 |
2 |
Common kinematic configurations; Points and vectors |
|
|
|
3 |
Rotation matrices; Elementary rotations; Rotational transformations |
|
|
|
4 |
Change of reference frame; Composition of rotations; Euler angles |
|
3 |
Sept 18 |
5 |
Rigid motions; Composition of rigid motions; Homogeneous transformations |
|
|
|
6 |
Forward kinematics problem |
|
|
|
7 |
Frame assignment algorithm |
|
4 |
Sept 25 |
8 |
Frame assignment examples, DH parameters |
|
|
|
9 |
DH parameter examples, DH table to homogeneous transformations |
|
|
|
10 |
Inverse kinematics problem |
|
5 |
Oct 2 |
11 |
Kinematic decoupling; Inverse orientation problem |
Homework 1 |
|
|
12 |
Velocity Kinematics
| |
|
|
13 |
Velocity Kinematics
| |
6 |
Oct 9 |
14 |
Thanksgiving |
|
|
|
15 |
Robot Jacobian derivation |
|
|
|
16 |
Robot Jacobian examples |
|
7 |
Oct 16 |
17 |
Inverse velocity kinematics; Inverse kinematics without kinematic decoupling;
End effector force and torque |
|
|
|
18 |
Motion planning algorithm |
|
|
|
19 |
Attractive and repulsive forces |
|
8 |
Oct 23 |
20 |
Gradient descent algorithm; Cublic splines |
Homework 2 |
|
|
21 |
Independent joint control |
|
|
|
22 |
Robot modeling: mass particle example |
|
9 |
Oct 30 |
23 |
Robot modeling; Holonomic constraints; Generalized coordinates |
|
|
Nov 1 |
24 |
Midterm |
|
|
|
25 |
Virtual displacements; Lagrange D'Alembert principle; Euler-Lagrange equations |
|
|
Nov 6 |
|
Fall Break
| |
10 |
Nov 13 |
26 |
Euler Lagrange equation; Kinetic energy of a rigid body |
|
|
|
27 |
Kinetic energy of a rigid body |
|
|
|
28 |
Derivation of robot Lagrangian |
|
11 |
Nov 20 |
29 |
Equations of motion of a robot; Pendulum on a cart example |
Homework 3 |
|
|
30 |
Pendulum on a cart example; Double pendulum |
|
|
|
31 |
Double pendulum; Centralized Robot control; Feedback linearization |
|
12 |
Nov 27 |
32 |
Feedback linearization; Equilibria and stability; Lyapunov's stability theorem |
|
|
|
33 |
LaSalle's invariance principle |
|
|
|
34 |
PD control with gravity compensation |
|
13 |
Dec 4 |
35 |
Passivity-based control |
Homework 4 |
|
|
36 |
Passivity-based control with adaptation |
|
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.
Homework |
Chapter |
Problems |
Due Date |
1 |
Chapter 2 |
2-1, 2-2, 2-10, 2-11, 2-12, 2-13, 2-15, 2-23, 2-36, 2-37, 2-38, 2-40 |
Oct 2 |
2 |
Chapter 3 |
3-1, 3-2, 3-3, 3-4, 3-5, 3-6 |
Oct 23 |
3 |
Chapter 5, 4 |
5-4, 5-6, 5-8; 4-10, 4-13, 4-15 |
Nov 20 |
4 |
Chapter 6 |
6-8, 6-9 (use Euler-Lagrange Method), 6-13, 6-14 |
Dec 4 |
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. Labs 1-4 include a preparation and in-lab
documents, both submitted on Quercus. The preparation is worth 3 marks and the in-lab
component is worth 7 marks.
For Labs 1-4, each group will submit a preparation on Quercus two days before the scheduled
lab. Your Lab TA will review your work to make sure you are ready to perform the lab.
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.
Section |
Day and Time |
Lab 0 |
Lab 1 |
Lab 2 |
Lab 3 |
Lab 4 |
PRA 01
| Fri 12-3pm
| Sept 15
| Oct 13
| Oct 27
| Nov 17
| Dec 1
|
PRA 02
| Fri 12-3pm
| Sept 22
| Oct 6
| Oct 20
| Nov 3
| Nov 24
|
PRA 03
| Tue 3-6pm
| Sept 12
| Oct 10
| Oct 24
| Nov 14
| Nov 28
|
PRA 04
| Fri 3-6pm
| Sept 22
| Oct 6
| Oct 20
| Nov 3
| Nov 24
|
PRA 05
| Thu 12-3pm
| Sept 14
| Oct 12
| Oct 26
| Nov 16
| Nov 30
|
PRA 06
| Thu 12-3pm
| Sept 21
| Oct 5
| Oct 19
| Nov 2
| Nov 23
|
Grading
Labs |
25% |
Includes preparation, lab work, and report |
Homework |
5% |
|
Midterm |
30% |
Wednesday, November 1, 5-7pm |
Final Exam |
40% |
TBA |