ECE/ME 194D, ECE 594D - Robot Dynamics and Control

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
Spring 2012

Instructors:	Prof. Katie Byl (Lecturer)
	katiebyl+179d@gmail.com

	Brian Satzinger (TA / Lab Instructor)
	bsatzinger+179d@gmail.com
	Pat Terry (TA / Lab Instructor)
	ptx111+179d@gmail.com

Note: We suggest using the gmail addresses listed above,
because the "+179d" identifier will allow instructors to filter
more effectively for class-related messages.

Lecture:	Tue, Thur 2:00-3:15pm	Phelps 2516
Lab Group A:	Friday 11am-2pm	Harold Frank Hall 3120A
Lab Group B:	Monday 5pm-8pm	Harold Frank Hall 3120A

Quick Links: (under construction!) Homework Lecture Materials Laboratories

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 - Tues./Thurs. 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 (24%), Laboratories (28%), Mid-Term Exam (20%), and Final Project (28%).

Homework: There will be approximately 5 or 6 homework assignments.
Laboratories: The weekly lab time will be scheduled during the first week of class. Grading for each lab is based on weekly pre-labs and on lab report write-ups.
Mid-Term Exam: An in-class mid-term will occur during Week 6, likely on May 8. You are allowed a one-page sheet of notes for the exam.
Final Exam: The Final Exam is scheduled for Tuesday June 12, 4-7pm in Phelps 2516. 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: April 3, 2012