Course Description
Course Name: Robotics
Course No. EE - 43121
Professor: Dr.
Hamid D. Taghirad
Semester: Spring 89
Room and Time: Sat-Wed: 13:30-15:00 Room 201
Office Hours: Sat: 17:00-18:00
Course
Contents (pdf)
This course aims to introduce the fundamentals of mechanics and control of
robotic manipulators. For this the required mathematics is introduced,
concepts like manipulator Kinematics and Dynamics are elaborated, and
different approaches to derive them are explained. Jacobian, singularity and
redundancy is introduced next, and different control algorithm in joint-space
and Cartesian space is introduced. The linear and nonlinear control algorithms
are developed through the course, and a thorough and comprehensive design task
is performed by them as a term project.
The tentative course contents are as following.
Time: Teaching Contents
Week 1
Introduction:
Robotics at a glance, robotic manipulators, joints, links, DOF, ...
Week 2
Introduction:
Mathematical Transformations, positions and orientations, rotation matrix,
Euler angles, homogeneous transformations.
Week 3
Kinematics : Joint space and
Cartesian space, Denavit-Hartenberg parameters, forward Kinematics, inverse
Kinematics.
Week 4
Kinematics : Geometrical
approach, Inverse Kinematics, Pfeifer Theorem.
Week 5
Jacobians : Linear and
angular velocity, Jacobian definitions, Singularity and Redundancy, velocity
propagation, force and torque relation. general method.
Week 6
Dynamics : linear and
angular acceleration, Newton-Euler method, force propagation.
Week 7
Dynamics : Lagrange method,
general description, robot dynamic derivation, Lagrange iterative method.
Week 8
Path Planning : Joint space and
Cartesian space methods, cubic interpolation, Parabolic Blend interpolation,
multiple points with via points.
Week 9
Midterm
Week 10
Linear Control : Robots with
gearbox, dynamic remodeling, linear identification, linear controller
design.
Week 11
Nonlinear Control : General
controller topology, Feedforward control, Feedback linearization, computed
torque method.
Week 12
Nonlinear Control : Cartesian space
control schemes, Inverse Jacobian method, Jacobian Transpose method,
Modified JT method.
Week 13
Force Control : The general
topology, virtual damper-spring concept, force measurements, force control
schemes
Week 14
Hybrid Control : force-position
control, matrix inclusion method, hybrid force-motion control topology
Week 15
Impedance Control : General topology
structure, application of virtual damper-spring concept, defining of desired
impedance of a robot, impedance control scheme.
References
1
M. W. Spong, S. Hutchinson, M. Vidyasagar ,
“Robot
Modeling and Control”, New York, Wiley, 2006.
2
Lung-Wen Tsai, “Robot analysis: the mechanics of
serial and parallel manipulators”, New York, Wiley, 1999.
3
John J. Craig, “Introduction to
robotics: mechanics and control”, 3rd Edition, Mass.,
Addison Wesley, 2005.
4
H.Asada and J.J. Slotine, “Robot Analysis and
Control”, J. Wiley, 1989.
5
Selected papers.
Assignments
Solved Problems
You can use two pages per sheet print option
of Acrobat Reader
Course Documents
Developed Programs
●
ARAS ROBOSIM : A graphical
simulator developed to derive the dynamical equation of the system and to
show the robot motion graphically in 3D.
Software
Selected Papers
1.
S Hayati, M Mirmirani, Improving
the absolute positioning accuracy of robot manipulators , Journal of Robotic
Systems 2 (4), 397-413, 1985.
2.
H. Lipkin, J. Duffy, Analysis of
industrial robots via the theory of screws , 12th Int. Sym. Industrial
Robots, Paris, June 9-11, pp359-360, 1982.
3.
S. Ozgoli and H.D. Taghirad, Fuzzy Logic
supervisory loop to remedy actuator saturation drawbacks, in the proceedings of 5th Conference on
Intelligent systems, Oct. 2003.
4.
Bobrow, Dubowsky and Gibson, Time-optimal control
of robotic manipulators along specified paths, International Journal of Robotics Research, Vol
4, No. 3, pp 3-17, 1985.
5.
J. E. Slotine, The robust control
of robot manipulators, International Journal of Robotics Research, Vol
4, No. 2, pp 49-64, 1985.
6.
Chiaverini ,
S.; Siciliano , B.; Villani ,
L.; A
survey of robot interaction control schemes with experimental comparison ;
Mechatronics, IEEE/ASME Transactions on Volume 4, Issue 3, Sept. 1999 Page(s):273
- 285
7.
H.D. Taghirad and H.
Memarzadeh and M. Younesi,
Design and implementation of Electronic system and
computer control of a $ DOF Robot D&A 401 , in the proceeding of 11th
International conference of Electrical Engineering, Tabriz, 2002.
8.
H.D. Taghirad, A.
Ghaffari, S.A.A. Moosavian and M. Khalkhali,
Design and implementation of the
computer control system of casting Robot D&A 101 , in the proceeding of 10
International Conference of Mechanical Engineering, Tehran, June 2002.
9.
H.D. Taghirad and S.
Afshar, Linear identification and PID
controller design and implementation on a SCARA robot , Proceedings of 8th International Conference on Electrical
Engineering, May 1999, Isfahan.
10.
A.A. Javadifard, A.
Ghafari, and H.D. Taghirad,
Dynamics and control of a 4DOF casting robot ,
Accepted for presentation in the 3rd IMACS/IEEE International Multiconference on
Circuits, System, Communication and Computers, 1998, Greece.
11.
M. Khalkhali and H.D.
Taghirad, Impedance control of a flight simulator yoke, Proceedings of 8th
International Conference on Electrical Engineering, May 1999, Isfahan.
12.
H.D. Taghirad and M.A.
Khosravi, Stability analysis and robust composite controller synthesis for
flexible joint robots , submitted to IEEE Transactions on Robotics and
Automation, 2003.
13.
H.D. Taghirad and M.A.
Khosravi,
Stability analysis of robust PID controller for flexible joint
manipulators, Proceedings of 8th International Conference on Electrical
Engineering, May 1999, Isfahan.
14.
H.D. Taghirad and M.A.
Khosravi, Robust PID controller Design for flexible joint manipulators ,
Proceedings of 8th International Conference on Electrical Engineering, May 1999, Isfahan.
15.
H.D. Taghirad and M.A.
Khosravi,
Stability analysis and robust PID design for flexible joint
manipulators , Proceedings of the 31st International Symposium on Robotics, Vol
1, pp 144-149, May 2000, Montreal, Canada.
16.
H.D. Taghirad and GH.
Bakhshi, Composite-H∞ Controller Synthesis for Flexible Joint Robots ,
Submitted to the IEEE International Conference on Intelligent and Robotic
Systems, 2002.
17.
H.D. Taghirad and M.A.
Khosravi, Stability analysis and robust composite controller synthesis for
flexible joint robots , submitted to the IEEE International Conference on
Intelligent and Robotic Systems, 2002.
18.
H.D. Taghirad and H.
Memarzadeh and M. Younesi,
Design and implementation of Electronic system and
computer control of a $ DOF Robot D&A 401 , in the proceeding of 11th
International conference of Electrical Engineering, Tabriz, 2002.
19.
H.D. Taghirad, A.
Ghaffari, S.A.A. Moosavian and M. Khalkhali,
Design and implementation of the
computer control system of casting Robot D&A 101 , in the proceeding of 10
International Conference of Mechanical Engineering, Tehran, June 2002.
20.
S.A.A. Moosavian, H.D.
Taghirad and K. Pornazar,
Mechanical Design and implementation of casting Robot
D&A 101 , in the proceeding of 10 International Conference of Mechanical
Engineering, Tehran, June 2002.
21.
A.A. Javadifard, A.
Ghafari, and H.D. Taghirad,
Dynamics and control of a 4DOF casting robot ,
Accepted for presentation in the 3rd IMACS/IEEE International Multiconference on
Circuits, System, Communication and Computers, 1998, Greece.
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