ECE470 Robot Modeling and Control (Last updated: August 1, 2020)

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
TBA GB348 TUT 01, TUT 02 TBA at mail.utoronto.ca
TBA GB348 PRA 01, PRA 02 TBA at mail.utoronto.ca
TBA GB348 PRA 03, PRA 04 TBA at mail.utoronto.ca
TBA GB348 PRA 05, PRA 06 TBA at mail.utoronto.ca
TBA GB348 PRA 07, PRA 08 TBA at mail.utoronto.ca


Tutorial Schedule

Section TA Tutorial Dates
TUT 01, TUT 02 TBA Sept 14, Sept 21, Sept 28, Oct 5, Oct 12, Oct 19, Oct 26, Nov 2, Nov 16, Nov 23, Nov 30


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


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 1, 2, 10, 11, 12, 13, 15, 23, 37, 38, 39, 41 Oct 2
2 Chapter 3 2, 3, 4, 5, 6, 7, 13 Oct 16
3 Chapter 3 15, 18; Chapter 4: 13 (swap phi and psi in problem statement), 15, 18, 20 Oct 30
4 Chapter 7 7, 8 (use Euler-Lagrange Method), 12, 13 Nov 27


Laboratories

Labs are Matlab-based and performed in groups of one or two. You may select your own lab partner, or your assigned practical TA will help you form a group. Each group submits a preparation and lab report. Lab preps and reports are submitted on Quercus by 5pm on the due date.

Section Lab 1 Lab 2 Lab 3 Lab 4
PRA 01-08 Oct 9 Oct 23 Nov 20 Dec 4


Grading

Labs 40% Includes preparation, lab work, and report
Homework 10%  
Midterm 25% Friday, November 6
Final Exam 25% TBA