Robotics Course
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Course Description
   
Course Name:  Robotics
Course No.  EE - 43121
Professor:  Dr. Hamid D. Taghirad
Semester:  Spring 92
Room and Time:  Mon-Wed: 7:30-9:00 Room 204
Office Hours:  Mon-Wed: 9:00-10:30 Room 321

Course Contents

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

Assignments (pdf) Projects Exams (pdf)
Assignment 1 30/11/91  Solution CP 1  28/01/92  SimMechanics Model (Abedloo)   Final      
Assignment 2 14/12/91  Solution CP 2  01/03/92  VRML_model (Arjomandi)   Midterm
Assignment 3 21/12/91  Solution CP 3  15/04/92    
Assignment 4 09/02/92  Solution        
Assignment 5, data 25/02/92  Solution         Final Scores

Solved Problems
You can use two pages per sheet  print option of Acrobat Reader

Solved Problems #1 Kinematics - Coordinate Transformation
Solved Problems #2 Velocity Analysis - Jacobian Extraction
Solved Problems #3 Jacobian - Dynamics
Solved Problems #4 Dynamics - Trajectory Planning
Solved Problems #5 Optimal Trajectory Planning - Control
Solved Problems #6 Control (Joint Space and Task Space)

Course Documents

 Course Notes:

 Chapter 1-4: Dr. Taghirad Parallel Robots Book

 Chapter 4: Successive Screw

 Chapter 4: Genearal Jacobian and Singularity

 Chapter 4: Redundancy Resolution

 Chapter 5: Dynamics Review

 Chapter 5: Iterative Lagrange

 Chapter 5: Dynamic Model Properties

 Chapter 6: DC Motors, Effective Inertia

   
First Lecture Presentation file (pdf)
Robotics at a glance
Robotic Manipulators: Presented seminar at control day Amirkabir U.
Redundancy Resolution
Payload maximization for a Puma 762 robot - Movie(Real) - Movie (Mpeg)
Mass Moment of Inertia Table (From Meriam and Kraige)
Metronix AC motors: Cataloge
Apex Gear heads: Cataloge
Maxon DC motor: Online cataloge, Selection guide, Electronic drives
Galil Servo drives: Cataloge, Selection guide
Spong Book: Chapter 8

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

Robotics Toolbox of Matlab: Mathworks Matlab: User guide (pdf)
OpenSim a 3D simulator for autonomous robots
A Collection of Modelling and Simulation Resources on the Internet
   

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.
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.

Related Links
Robotics Related Sites of Interest
UC Berkeley Robotic site
USC Robotics Labratory
Robotics Internet Resources Page
MIT AI lab:
Mobile Robotics Group, Robot Hands, Cognitive Robotics, Leg Laboratory.
Carnegie Melon Robotics Institue
McGIll Center for Intelligent Machines
Robotics Industries Accociation
University of southern california Robotics center
AIRVL University of Minnesota
Milind Tambe's Hompage - Multi-Agents, Teamwork, Agent modeling, Plan recognition, Intelligent Agents.
Aerospace Robotics Laboratory - Stanford University
   
Robotics movies
Robotics FAQ
True Force
Robotics Books
Robocup
Robot Competitions links
   
2007 IEEE ICRA
2007 IEEE IROS
   


Description  Contents  References  Assignments  Documents  Software  Programs  Papers  Links

Copyright © Dr. Hamid D. Taghirad
K.N. Toosi University of Technology
Last Updated Saturday June 01, 2013