Göm meny

Robot Modeling and Control

Course type

Gives the fundamental theory of modeling and control design for robots, especially industrial manipulators.

Contents

The course includes:
  • Robot modeling
    • kinematics
    • dynamics
  • Path and trajectory planning
  • Robot control
    • PID-based control
    • Computed torque
    • Adaptive control
    • Force control
    • Vision based control
  • Tools (such as Robotics Toolbox, Modelica, Mathematica, RobotStudio)
  • Programming in Rapid (ABB's language for robot programming)

Credits

The course gives 6hp (you can receive an additional 3hp by carrying out a project).

Examination

To apply the theory from the lectures in practice you will solve two home assignments and do one lab on the robot in the research lab (the lab can be replaced by a RobotStudio project if the lab robot is out of service). The first home assignments include to

  • Find a robot to model and control
  • Make a model of the robot
In the second assignment you should
  • Find a controller for the model
  • Simulate the robot and the controller

Litterature

Many books have been written about robot modeling and control. The following books covers the material in the course.
  • M.W. Spong, S. Hutchinson and M. Vidyasagar: Robot Modeling and Control
  • L. Sciavicco and B. Siciliano: Modelling and Control of Robot Manipulators
  • J.J. Craig: Introduction to robotics, Mechanics and control
  • Tsai, Lung-Wen: Robot analysis : the mechanics of serial and parallel manipulators
Other books that are relevant for the course are
  • J-J. E. Slotine and W. Li: Applied Nonlinear Control
  • M. Lesser: The Analysis of Complex Nonlinear Mechanical Systems, a computer algebra assisted approach

Sotware tools

Through the course the Matlab Robotics Toolbox by Peter I. Corke is used to implement the theory. Other software tools that can be used are Dymola (to implement the Modelica standard) and Mathematica or Maple. Modelica, Mathematica and Maple can all be used in the modeling step described above.

Links to robot manufacturers

Contact person

Mikael Norrlöf, (mino@isy.liu.se), (phone: +46 13 282704, +46 21 346017)


Informationsansvarig: Mikael Norrlöf
Senast uppdaterad: 2017-08-29