University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Dynamics and Control
ECE 194D - Spring 2011
| Instructors: |
Prof. Katie Byl (Lecturer) |
|
katiebyl+194d@gmail.com |
| | | |
|
Brian Satzinger (TA / Lab Instructor) |
|
bsatzinger+194d@gmail.com |
|
Pat Terry (TA / Lab Instructor) |
|
ptx111+194d@gmail.com |
Note: please use the gmail addresses listed above.
The "+194d" identifier will allow instructors to filter more effectively for class-related messages! |
| Lecture: |
Tue, Thur 2:00-3:15pm (tentative) | Phelps 1431 |
| Lab Group A: |
Friday 10am-1pm | Harold Frank Hall 3120A |
| Lab Group B: |
Friday 3pm-6pm | Harold Frank Hall 3120A |
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
Lecture Schedule: Syllabus is tentative.
Co-rerequisites: ECE 130C (or equivalent) or ME 155A (or equivalent).
Office Hours: TBA
Required Text:
Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar.
Grading: Course may be taken for either 4 or 5 units, with according grade weights below.
Homework (20%), Laboratories (28%), Mid-Term Exam (20%), and Final Project (32%) [5-unit option].
Homework (25%), Laboratories (35%), Mid-Term Exam (25%), and Final Project (15%) [4-unit option].
- Homework: There will be approximately 5 homework assignments.
- Laboratories: The weekly lab time will be scheduled during the first week of class. Grading for each lab is based
on: Prelab (30%), in-class lab check-off by instructor(s) (30%), and a 2-minute video report describing what you have done and
showing the working system.
- Mid-Term Exam: An in-class mid-term will be scheduled. You are allowed a one-page sheet of notes for the exam.
- Final Project: During the last 3 weeks of class, students must complete a final project. This project can be
an extension of one of the three laboratory robotic systems (robot arm, omni-directional wheeled vehicle, or balancing wheeled vehicle),
or it can be a novel project of student design. Depending on enrollment, most if not all projects will be group projects. The 5-unit
option for the course requires a substantial project, so students interested in this option must begin planning their project
earlier (than week 8) in the term.
- No Final Exam will occur; the final project replaces a "Final Exam".
ECE Syllabi || Electrical and
Computer Engineering || College of
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Last Updated:
April 6, 2011