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 |
| Week | Topics | Reading | ||||
| 1 | L1. Introduction: Robot terminology and geometry (kinematics and feasibility) L2. Work: force and displacement (review); Mechanical Impedance |
Spong: Ch. 1-3 Spong: p. 325-8 | ||||
| 2 | L3. Model elements: DC motor, nonlinearities, transmission, digital effects L4. SISO control: PD and PID, tuning controllers on a real-world system. | Spong: 6.1-6.2,6.5 TBA Spong: 6.3, Ogata: 566-575, Palm:565-575 (handouts) | ||||
| 3 | L5. SISO control: Feedforward. Brief overview of state space. L6. The Jacobian: virtual work; Jacobians in the force domain | Spong: 6.4 Spong: 4.10, Craig 5.9,5.10 | ||||
| 4 | L7. The Jacobian: matrix velocity kinematics L8. Wheeled-vehicle dynamics: Pt I, kinematic constraints; mobility, steerability, maneuverability; wheel types | Spong: Ch. 4 Handouts: Siegwart: Ch. 3, Omnibot_Velocity_Kinematics Slides: Lecture 8 full slides, Lecture 8 mini-slides | ||||
| 5 | L9. Wheeled-vehicle dynamics: Pt II, Holonomic vs nonholonomic systems. L10. Review for the Midterm | Spong 7.1, 10.5,
Slides: Lecture 9 full slides,
Lecture 9 mini-slides
Spong: 7.2-7.3, Slides: Lecture 10 full slides, Lecture 10 mini-slides | ||||
| 6 | L11. The Lagrangian: Pt I, kinetic co-energy and potential energy;
Deriving equations of Motion (EOMs) (L12.) Midterm Exam: Thursday, May 10. In class. | Spong 7.1-7.3,
Slides: Lecture 11 full slides,
Lecture 11 mini-slides
- | ||||
| 7 | L13. The Lagrangian: Pt II, Relative vs absolute coordinates; generalized forces; loss terms. L14. State space: "Segway" robot Lagrangian, EOMs. | Spong: 7.1-7.3,
Slides: Lecture 13 full slides,
Lecture 13 mini-slides,
Lecture 13 SUPPLEMENT,
Spong 6.6, Slides: Lecture 14 full slides | ||||
| 8 | L15. State space: Controllability and observability. L16. Inner/outer control loop; Inverse dynamics (aka "computed torque"). | Spong 6.6.1, Notes: Lecture 15 Spong 8.1-8.3, Craig 10.4, Notes: Lecture 16 | ||||
| 9 | L17. Automated generation of EOM (via MATLAB) L18. MATLAB tools for ; [Partial] Feedback Linearization (PFL) |
Notes: Lecture 17 Lecture 18 Spong: 10.2 | ||||
| 10 | L19. Force Control; Impedance Control. L20. Hybrid position/force control. passive and active compliance. | Spong: 9.3.2-9.3.3, Craig 11.4-11.5
Craig 11.6-11.7 | ||||
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Last Updated: June 5, 2012