Module 06-25021 (2019)
|Mohan Sridharan Masoumeh Mansouri||Semester 2||20 credits|
This module is concerned with robot planning and control in a physical world. We will introduce the concepts and tools for modelling, simulating, and controlling robots with respect to dynamics. In a series of lectures we will study the fundamental and advanced techniques for controlling a robot in a real environment l. Lab exercises will reinforce learned concepts by means of evaluation on a (real/simulated) physical robot.
The aims of this module are to:
- give an appreciation of the issues that arise when controlling dynamic robots, such as manipulators
- provide an understanding of the methods and techniques used to model and control dynamic robots
- give hands on experience for designing, implementing and testing motion controllers
- encourage independent thought on scientific issues related to robot motion and control
On successful completion of this module, the student should be able to:
- Develop and formulate models of a robot moving in a real environment.
- Implement algorithms for solving robot planning or control problems.
- Investigate and analyse control methods for robot motion (on a simulator or real robot).
- Demonstrate an understanding of the main methods of modelling and controlling robots in real environments.
2 hrs lectures per week, laboratory sessions
Sessional: 2 hour examination (70%) Continuous assessment (team project) (30%).
Supplementary (where allowed): Examination (70%) (with 30% CA carried over).
- introduction to manipulation
- types of sensors/actuators
- coordinate transformation
- homogenous transforms
- Denavit-Hartenberg notation
- Inverse Kinematics
- Trajectory Planning
- joint space vs task space
- cubic/quintic splines
- Lagrange formulation
- Newton Euler formulation
- Inertial parameter identification
- Operational space dynamics
- Constraint dynamics
- joint space control
- computed torque control
- gravity compensation
- inverse dynamics control
- operational space control
- force control
- constraint control
- impedance control