Module 06-25021 (2018)

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.

• 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

1. Develop and formulate models of a robot moving in a real environment.
2. Implement algorithms for solving robot planning or control problems.
3. Investigate and analyse control methods for robot motion (on a simulator or real robot).
4. Demonstrate an understanding of the main methods of modelling and controlling robots in real environments.

None

2 hrs lectures per week, laboratory sessions

Contact Hours:

44

Sessional: 2 hour examination (70%) Continuous assessment (team project) (30%).

Supplementary (where allowed): Examination (70%) (with 30% CA carried over).

1. Introduction
   • overview
   • introduction to manipulation
   • types of sensors/actuators
2. Kinematics
   • coordinate transformation
   • rotations
   • quaternions
   • homogenous transforms
   • Denavit-Hartenberg notation
3. Inverse Kinematics
   • redundancy
   • Jacobians
   • singularities
   • manipulability
4. Trajectory Planning
   • joint space vs task space
   • cubic/quintic splines
5. Dynamics
   • Lagrange formulation
   • Newton Euler formulation
   • Simulation
   • Inertial parameter identification
   • Operational space dynamics
   • Constraint dynamics
6. Control
   • joint space control
   • computed torque control
   • gravity compensation
   • inverse dynamics control
   • operational space control
   • force control
   • constraint control
   • impedance control