University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Dynamics and Control
Lecture Materials
| ECE194D 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 Siegwart: Ch. 3 (handout) | ||||
| 5 | L9. Wheeled-vehicle dynamics: Pt II, Holonomic vs nonholonomic systems. L10. The Lagrangian: Pt I, kinetic co-energy and potential energy; Deriving equations of Motion (EOMs) | Spong 7.1, 10.5 Spong: 7.2-7.3 | ||||
| 6 | L11. The Lagrangian: Pt II, Relative vs absolute coordinates; generalized forces; loss terms. L12. State space: "Segway" robot Lagrangian, EOMs. | Spong: 7.1-7.3 Spong 7.4 | ||||
| 7 | L13. State space: Controllability and LQR design. L14. MIMO: Pt I, Controllability, observability MATLAB examples. | Spong 6.6 Spong: 6.6, lect14a.m, lect14b.m | ||||
| 8 | L15. MIMO: Pt II, Inner/outer control loop; Inverse dynamics (aka "computed torque") L16. Task space (Cartesian) dynamics and control | Spong 8.1-8.3, Craig 10.4 Spong 9.1-9.3.2, Craig 10.8 | ||||
| 7 |
Midterm Exam: Tuesday, May 24. In class. L18. Force control; impedance control | - Spong: 9.3.2-9.3.3, Craig 11.4-11.5 | ||||
| 8 | L19. Hybrid position/force control. passive and active compliance. Feedback linearization. L20. Underactuated systems: locomotion; partial feedback linearization | Spong: 10.2 Craig 11.6-11.7 TBA | ||||
ECE Syllabi || Electrical and Computer Engineering || College of Engineering || UCSB Web Site Directory
Last Updated: May 31, 2011