University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Department of Mechanical Engineering
Robot Dynamics and Control
ECE 179D / ME 179D / ECE 594D
Fall 2012
| Instructors: |
Prof. Katie Byl (Lecturer) |
|
katiebyl+179d@gmail.com |
| | |
|
Giulia Piovan (TA / Lab Instructor) |
|
gpiovan@umail.ucsb.edu |
|
Chris Steward (TA / Lab Instructor) |
|
steward@umail.ucsb.edu |
Note: Using the "+179d" identifier for class-related
email will
allow me to filter more effectively for class-related messages. |
| Lecture: |
Tue, Thur 2:00-3:15pm | Girvetz 2120
Phelps 1260 <<--- Note the room change for lectures!! |
| Lab Group A: |
TBD |
Harold Frank Hall 3120A |
| Lab Group B: |
TBD |
Harold Frank Hall 3120A |
Lecture Schedule: Syllabus is tentative.
Course Topics include:
- Force and displacement relationships: work and energy; mechanical impedance, kinematics and inverse kinematics (IK)
- Single joint control: single-input single-output (SISO); PD; PID; feedforward
- The Jacobian: velocity kinematics; force-torque relationships
- Wheeled vehicles: holonomic constraints; mobility, steerability, maneuverability
- The Lagrangian: equations of motion (EOMs)
- Multi-link control: multiple-input multiple-output (MIMO); state space methods; impedance control; impedance control
- Underactuated dynamics: locomotion; partial feedback linearization; controllability
Co-rerequisites: ECE 130A (or equivalent) or ME 155A (or equivalent).
Office Hours: Prof. Katie Byl - Mon./Wed. 3:30-4:30pm in 5115 Harold Frank Hall
Required Text:
Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar.
Grading: This is a 4-unit course, with grade weights below.
Homework (25%), Laboratories (25%), Mid-Term Exam (20%), and Final Exam (30%).
- Homework: There will likely be 6 homework assignments. The lowest homework grade will be dropped in calculating your homework average.
- Laboratories: There will likely be 6 3-hour lab sessions. Individuals will turn in Prelabs for Labs
1, 3, and 5. Lab groups will turn in joint lab write-ups for Labs 2, 4, and 6. The lowest lab grade will
be dropped in calculating your lab grade. Weekly lab time(s) will be scheduled during the first week of class.
- Mid-Term Exam: An in-class mid-term will occur around Week 6-7, likely on Nov. 6. You are allowed a one-page sheet of notes for the exam.
- Final Exam: The Final Exam is scheduled for Tuesday, December 11, 4-7pm in Phelps 1260 (our usual classroom). You are
allow two one-sided sheets of notes for the Final.
ECE Syllabi || Electrical and
Computer Engineering || College of
Engineering || UCSB
Web Site Directory
Last Updated:
December 10, 2012