ME5402/EE5106 : ADVANCED ROBOTICS

Modular Credits: 4
Workload: 3-0.5-0-2-5
Pre-requisite(s): ME4245; ME2142 or EE2010 (Applicable to undergraduate students only), EE5101 (Applicable to graduate students only)

Preclusion(s): MCH5209, EE5106

Cross-listing(s): EE5106
The aim of the module is for students to develop an in depth understanding of the fundamentals of robotics at an advanced level. It is targeted towards graduate students interested in robotics research and development. The focus is on in depth treatments and wider coverage of advanced topics on (a) kinematics, (b) trajectory planning, (c) dynamics, and (d) control system design. At the end of this module, the student should have a good understanding of all the related topics of advanced robotics, and be able to derive the kinematics and dynamics of a given robot, plan appropriate path, and design advanced control systems.

 

  No. of hours

1. Position and Orientation Transformations and Robot 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

 9 hrs

 

 

2. Rigid Body Motion, Robot 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

 6 hrs



 

3. Robot Trajectory Planning & Kinematic Robot Control
Point -to-point vs Continuous motion. Polynomials. Linear functions with parabolic blends. Via points. Cartesian paths. Kinematic control.
 

  3 hrs
 

 

4. 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.

8 hrs




 

5. Robot Position 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.
 

  7 hrs




 

6.  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.
 

3 hrs



 

7. Lab.
Industrial Robots Demonstrations.

 3 hrs
 

References:

  1. Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. McGraw Hill, 1996.

  2. Craig, J.J., Introduction to Robotics, Mechanics and Control, 2nd edition, Addison Wesley, MA. 1989.

  3. Schilling, R.J., Fundamentals of Robotics Analysis and Control, Prenticel Hall, NJ, 1990.

  4. Spong, M.W. and Vidyasagar, M., Robot Dyanmics and Control, John Wiley and Sons, NY, 1989.

  5. Fu, K.S., Gonzalez, R.C., and Lee, C.S.G., Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987.

  6. Paul, R.P., Robot Manipulators: Mathematics, Programming and Control, MIT Press, MA, 1981.

  7. Klafter, R.D., Chmielewski, T.A., and Negin, M., Robotic Engineering, Prentice Hall, NY 1989.

  8. Wolovich, W.A., Robotics: Basic Analysis and Design, Holt Rinehart and Winston, NY, 1987.

  9. Shahinpoor, M., A Robot Engineering Textbook, Harper and Row, NY, 1987.

  10. Andeen, G.B., et.al., Robot Design Handbook, McGraw Hill, NY 1988.

  11. H. Asada and J-J.E. Slotine, Robot Analysis and Control, Wiley, 1986.

 Other research publications (cited and/or distribited during appropriate lecture times)

Assessment

Class Wesite:

http://guppy.mpe.nus.edu.sg/~mpeangh/mch5209

Lecturers

Dr Marcelo H Ang Jr (Topics 1 to 3)

Department of  Mechanical and Engineering

Office:  E1-07-14,      Tel:  6874-2555,    e-mail: mpeangh@nus.edu.sg

 

Dr. Sam Ge Shuzi (Topics 4 to 7)

Department of  Electrical & Computer Engineering

Office:  E4-05-26F,     Tel:  6874-6821,    e-mail: elegesz@nus.edu.sg