University of California, Santa Barbara
Department of Electrical and Computer Engineering
Department of Mechanical Engineering

Robot Dynamics and Control

Lecture Materials

Course Homepage Homework Lecture Materials Laboratories

The table of topics below may be modified throughout the quarter, and links to handouts should appear.
Here is a link to video from course lectures Spring 2011, when the class was numbered as ECE 194d. The primary text for the class is by Spong. We will have supplemental course notes for some lectures, updated throughout the course, here. (Notes last updated 10:50am, Oct. 2.)

We suggest DOWNLOADING the video links below before viewing them, rather than streaming video.

Week     Topics     Reading
1     L1. Introduction: Robot terminology and geometry (kinematics and feasibility)
L2. Work: force and displacement (review); Mechanical Impedance		      L1 notes,RDC book, 1.1-1.3 [pp.1-9] (Spong: Ch. 1-3)
L2 notes (Spong: p. 325-8)
2     L3. Model elements: DC motor, nonlinearities, transmission, digital effects
L4. SISO control: P and PD control. 1st- and 2nd-order system review. L4 video link 		     L3 notes Spong: 6.1-6.2,6.5 TBA
Spong: 6.3.
3     L5. SISO control: Feedforward. Control Law Partitioning. L5 video link
L6. The Jacobian: virtual work; Jacobians in the force domain L6 video link 		     L5 notes, Spong: 6.4, Craig 273-275
L6-PD-notes, L6-PID-1 notes, L6-PID-2 notes, Spong: 4.10, Craig 5.9,5.10, Ogata: 566-575, Palm:565-575 (handouts)
4     L7. PID tuning. The Jacobian: matrix velocity kinematics L7 video link
L8. Wheeled-vehicle dynamics: Pt I, kinematic constraints; mobility, steerability, maneuverability; wheel types L8 video link		     Spong: Ch. 4, Siegwart: Ch. 3, Omnibot_Velocity_Kinematics
(L8 slides), L8 handout
5     L9. Wheeled-vehicle dynamics: Pt II, Holonomic vs nonholonomic systems. L9 video link
L10. Review for Midterm. L10 video link 		     Spong 7.1, 10.5, (L9 slides), L9 handout
(L10 slides), L10 handout
6     L11. The Lagrangian: Pt I, kinetic co-energy and potential energy; Deriving equations of Motion (EOMs) L11 video link
L12. The Lagrangian: Pt II, Relative vs absolute coordinates; generalized forces; loss terms. (L12 has no audio...) 		     Spong 7.2-7.3, (L11 slides), L11 handout
(L12 slides), L12 handout, L12 supplement
7     Midterm Exam: Thursday, Nov. 8. In class.
L13. Automated generation of EOM (via MATLAB) [no video] 		     Midterm_F2012.pdf
Spong 7.1-7.3, Lecture13and14_withMATLAB
8     L14. State space: Controllability and observability. L14 video link
L15. Linear Quadratic Regulator (LQR); Abs vs Rel Xi (non-conservative forces) L15 video link 		     Spong 6.6, Lecture14_Controllability
Spong 8.1-8.3, Lecture15, Craig 10.4
9     THANKSGIVING HOLIDAY
L16. Inner/outer control loop; Inverse dynamics (aka "computed torque"). L16 video link
     -
Lecture16, Spong: 8.2, Craig 10.4
10     L17. Task space (Cartesian) dynamics and control; force control; impedance control L17 video link
L18. Hybrid position/force control. passive and active compliance. 		     Lecture17, Spong: 9.3, Craig 11.4-11.5
Craig 11.6-11.7
11     L19. Review.      TBD

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Last Updated: November 30, 2012