ECE470 Robot Modeling and Control (Last updated: September 10, 2019)

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
Tian Xia GB348 TUT 01, TUT 02 t.xia at mail.utoronto.ca
Ruthrash Hari GB348 PRA 01, PRA 02 ruthrash.hari at mail.utoronto.ca
Vipin Karthikeyan GB348 PRA 03, PRA 04 vipin.karthikeyan at mail.utoronto.ca
Andrew Lim GB348 PRA 05, PRA 06 andrewwilliam.lim at mail.utoronto.ca
Sajad Salmanipour GB348 PRA 07, PRA 08 s.salmanipour at mail.utoronto.ca


Lecture Schedule

Section Day and Time Location Dates
LEC 01 Mon 11-12 GB119
  Wed 11-12 GB119  
  Thu 11-12 GB119 Starts September 5


Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 Tian Xia Mon 12-14 BA2184 Sept 23, Oct 7, Oct 21, Nov 4, Nov 18, Dec 2
TUT 02 Tian Xia Mon 12-14 BA2184 Sept 16, Sept 30, Oct 14, Oct 28, Nov 11, Nov 25


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


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 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 1, 2, 10, 11, 12, 13, 15, 23, 37, 38, 39, 41 Oct 7
2 Chapter 3 2, 3, 4, 5, 6, 7, 13 Oct 21
3 Chapter 3 15, 18; Chapter 4: 13 (swap phi and psi in problem statement), 15, 18, 20 Nov 18
4 Chapter 7 7, 8 (use Euler-Lagrange Method), 12, 13 Dec 2


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. Lab 0 is an introduction to the KUKA robots and has no preparation or report. For Labs 1-4, each group submits a preparation at the beginning of the lab. One week after the lab, each lab group submits a lab report.

Section Day and Time Lab 0 Lab 1 Lab 2 Lab 3 Lab 4
PRA 01 Thu 12-15 Sept 19 Oct 17 Oct 31 Nov 14 Nov 28
PRA 02 Thu 12-15 Sept 26 Oct 10 Oct 24 Nov 7 Nov 21
PRA 03 Fri 15-18 Sept 20 Oct 18 Nov 1 Nov 15 Nov 29
PRA 04 Fri 15-18 Sept 27 Oct 11 Oct 25 Nov 8 Nov 22
PRA 05 Mon 15-18 Sept 23 Oct 21 Nov 4 Nov 18 Dec 2
PRA 06 Mon 15-18 Sept 16 Sept 30 Oct 28 Nov 11 Nov 25
PRA 07 Wed 12-15 Sept 25 Oct 9 Nov 6 Nov 20 Dec 4
PRA 08 Wed 12-15 Sept 18 Oct 2 Oct 16 Nov 13 Nov 27


Grading

Labs 20% Includes preparation, lab work, and report
Homework 5%  
Midterm 25% Wednesday, October 30, 6-8pm
Final Exam 50% TBA