Robot modeling and control

Given winter 2008 (starts 12/11 2008).

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, RobotStudio)
• Programming in Rapid (ABB's language for robot programming)

Credits

The course gives 6hp (you can receive an additional 3-6hp by carrying out a project). In part the course will be co-lectured with the PhD course on dynamic vision and there are interesting possibilities to carry out projects both robots and dynamic vision.

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 first home assignment 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

In the lab session you will become familiar with Marvin (the IRB1400 robot in the lab)and the safety systems of the root. You will also program a task and see how it is possible to make it flexible by using different coordinate systems, such as tool frame and object frame.

Schedule

See lectures in right menu.

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 (This book's notation and content will be used in the course.)
• L. Sciavicco and B. Siciliano: Modelling and Control of Robot Manipulators
• J.J. Craig: Introduction to robotics, Mechanics and control
• R.M. Murray, Zexiang Li and S. Shankar Sastry: A Mathematical Introduction to Robotic Manipulation
• 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

Software 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. A simple path generator in 3D is provided here and a modeling tool for kinematic modeling of serial link manipulators is written by Johanna Wallén.

Links to robot manufacturers

• ABB Robotics
• KUKA Robotics, German company.
• Adept Technology, SCARA robots and more.
• Motoman, a Yaskawa company (Japanese)
• Fanuc, a Japanese company

Contact person

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