Kinematics, dynamics, and control of robots -036026

If you plan to take this course and you are not yet registered, please contact Zvi Chapnik to be added to the Moodle course page.

Syllabus:  Kinematics, dynamics, and control of robots (036026) Spring 2024

Lecturer: Assoc. Prof. Yizhar Or, izi@technion.ac.il office at Kahn Building 407

Teaching Assistant: Zvi Chapnik, zvic@campus.technion.ac.il office at Lady Davis Building 343.

Grading & Workshop Assistant + Reserve duty coordinator: Tal Nesher, tal.nesher@campus.technion.ac.il

Lectures on Tuesday 13:30-15:30, Tutorials on Tuesday 15:30-16:30. Both at room LD 640.

Workshop hours: on Tuesday 16:30-17:30 (dates will be announced)

Office hours: see course Moodle page.

Curriculum

Part A - Robot kinematics (brief review of serial robot, parts 1-5):

1. Rigid body kinematics, Homogenous transformation matrix.
2. Direct and inverse kinematics of robot manipulators.
3. The Jacobian matrix – velocity and force transformation.
4. Motion in different coordinate systems, Singularities.
5. Serial robot statics.
6. Parallel robot – inverse kinematics and Jacobian.

Part B – Robot dynamics (serial robots):

1. Lagrange equations – review.
2. Dynamics of serial manipulator - Lagrange formulation.
3. Dynamics of serial manipulator - Newton-Euler formulation.

Part C – Control of serial robots:

1. Stability in non-linear systems – Lyapunov stability.
2. Control by Inverse Dynamics.
3. PD control. PID.
4. Min-Max control for uncertain systems.
5. Adaptive control.

Literature

-          W Spong & M. Vidyasgar, "Robot Dynamics and Control", John Wiley & Sons, 1989.

-          Asada & Slotine, "Robot Analysis and Control", Wiley Interscience, 1986.

-          R. Murray, Z Li & S. Sastry, “A mathematical introduction to robotic manipulation”, CRC Press,  1994

-          J. Craig, "Introduction to Robotics", Addison-Wesley, 1986.

-          Tsai, L.W., "Robot analysis : the mechanics of serial and parallel manipulators", Wiley 1999.

-          “Modern Robotics” – Prof. Kevin Lynch’s book and online course, see LINK.

Pre-requisite courses: Introduction to robotics, Control theory

Grading policy:

Mandatory homework assignment, submission in pairs only– 50%.

Oral defense on submitted assignments may be required and weighted in grades.

Final exam 50%, 15/9 session A, 14/10 session B

Minimum required exam grade is 50, below which the final grade = exam grade

 

Schedule plan for the course – spring 2024

(Dates and topics are tentative and may be subject to changes)

 

 

 

***HW submission deadlines of homework assignments will be strictly enforced! 3 points will be deducted from the HW grade for every day of delayed submission, up to 5 days allowed.