Course Details

Subject {L-T-P / C} : EE6335 : Robotics and Automation {3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Bidyadhar Subudhi

Syllabus

Transformations and Kinematics of Position: Homogeneous transformations Rotation matrices Three and four parameter representations for orientation Mathematical Singularities Robot kinematic modeling Forward kinematics Inverse kinematics problem: closed-form and numerical solutions Concept of decoupling. Kinematics of Velocity and Robot Statics: Translational and rotational velocities Velocity transformations Jacobian transformations Derivatives of homegeneous transformation matrices Forward kinematics Inverse kinematics of velocity Static force/torque transformations Recursive equations of motion and static force/torque relationships. Trajectory Planning and Kinematic Control: Point-to-point vs Continuous motion. Polynomials. Linear functions with parabolic blends. Via points. Cartesian paths. Kinematic control. Robot Dynamics: Euler-Lagrange equations Lagrangian approach to robot dynamics Actuator dynamics Properties of the robot dynamic model: inertial coefficients, centrifugal and coriolis coefficients, and gravity terms. Newton-Euler formulation of robot dynamics Computational considerations. Robot Positional Control: Independent joint control: based on PD and PID compensators, based on feed forward control State-space modelling and analysis Lyapunov stability analysis Multivariable PD control Computed-Torque control Implementaion and robustness issues Cartesian based control schemes Robust control methods Adaptive control methods. Robot Compliance and Force Control: Compliance and stiffness Force control in a single DOF system Impedance control Hybrid force and position control Stability issues and other problems Simultaneous force / position control of constrained robots. Discrete geometry and quantization, length estimation, automated visual inspection, object recognition and matching, depth perception problems, stereo geometry and correspondences, motion analysis, optical flow, multi-resolution processing of images, application of computer vision, remote sensing, target tracking.

Course Objectives

  1. To learn kinematics and dynamics
  2. To design controllers for robotic systems for trajectory tracking , navigation tasks
  3. To Learn trajectory planning

Course Outcomes

CO1: Learn kinematics and dynamics of robots
CO2: Modeling and analysis of robotic manipulators (serial chain of rigid bodies connected by actuated joints)
CO3: Controller design for motion and force control of robotic manipulators

Essential Reading

  1. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, Springer, 2007
  2. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987

Supplementary Reading

  1. F.L. Lewis, D.M. Dawson, and C.T. Abdallah, , Robot Manipulator Control: Theory and Practice, Marcel Dekker,New York, 2004
  2. R.J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall, NJ, Digitized Dec 5, 2007