CMPE-633-Fall2011

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CMPE-633B: Topics in Robotics and Control
Fall 2011: Robot Kinematics, Dynamics and Control

Instructor

Dr Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at] lums.edu.pk

Office: Room 9-309A, 3rd Floor, SSE Bldg

Office Hours:

Teaching assistant.

Course Details

Year: 2011-12

Semester: Fall

Category: Grad

Credits: 3

Elective course for electrical engineering, computer engineering and computer science majors

Course Website: http://cyphynets.lums.edu.pk/index.php/CMPE-633-Fall2011

Course Description

Generic

A research-methods based course to study advanced topics in robotics and control system design with emphasis on field robotics, unmanned aerial and ground vehicles, planning algorithms, autonomous systems, telerobotics, Human Robot Interaction (HRI) and other related areas. The course prepares students to do independent work at the frontiers of robotics and control research.

This year

This course introduces essential concepts and analytical tools to understand the dynamics and associated control systems for common robot tasks such as manipulation, grasping and locomotion. Topics include forward and inverse kinematics; path planning, collision avoidance and trajectory generation; robot body and actuator dynamics; sensory feedback and trajectory tracking; stability, disturbance rejection and force control.

Objectives

Introduce mathematical foundation of robot motion and control in a general setting.
Introduce ideas of configuration space, path planning and trajectory generation.
Teach use of geometric and dynamical models in robotics.
Highlight control theoretic issues in trajectory planning and sensory feedback.
Introduce practical applications of robotics in mobile manipulation tasks, tele-operation, automated assembly, manufacturing, home and service industry.

Pre-requisites

Grads. CMPE435 (Robotics) OR CMPE432 (Feedback design) OR CMPE-633 (Fall 2011) OR permission of instructor
Undergrads. EE361 (Feedback control) AND permission of instructor

Text book

The course will be taught from a combination of the following textbooks.

Primary Texts

Robot Dynamics and Control by Spong et al. (Available as free legal download)
Robotics: Modelling, Planning and Control by Siciliano et al.

Secondary Texts

Principles of Robot Motion by Choset et al. (Available as low priced edition)
A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry. (Available as free legal download)
Introduction to Robotics: Mechanics and Control by John Craig
Research papers.

Resources

Robotics Toolbox for MATLAB.

Similar Courses

Stanford: Introduction to Robotics.

Grading Scheme

Assignments: 20%
Midterm: 20%
Final Exam: 30%
Group Project: 30%
- Proposal. 10%
- Report. 20%
- Presentation. 20%
- Demo/working. 50%

Course Delivery Method

Lectures. Labs

Schedule

WEEK	LUMS CALENDAR	TOPICS
Week 1. Sept 5	Start of classes Sept 7;	Introduction to robotic systems; rigid body motions and transformations. Lec 1. Introduction; robotics and autonomous systems;
Week 2. Sept 12	Drop deadline Sept 14; Classes cancelled due to Dengue outbreak	Lec 2. workspaces; configuration spaces; planning algorithms;
Week 3. Sept 19	No classes due to Dengue Outbreak.
Week 4.Sept 26	Classes resumed; Semester pushed back by one week	Lec 3. Lec 4. Cancelled.
Week 5. Oct 3		Forward kinematics; inverse kinematics; velocity kinematics. Lec 8. Lec 9.
Week 6. Oct 10		Lec 10. Configuration spaces; artificial potential fields. Roadmaps for trajectory generation; trajectory planning. Lec 11.
Week 7. Oct 17		Lec 12. Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy. Lec 13.
Week 8. Oct 24	Midterms Oct 26-Nov 4;	Lec 14. Lec 15.
Week 9. Oct 31		Lec 16. Lec 17.
Week 10. Nov 7	Eid-ul-Azha holidays Nov 7-9;	Independent joint control; actuator dynamics; set point tracking; drive train dynamics; PD, PID control techniques. Lec 18.
Week 11. Nov 14		Lec 19. Lec 20.
Week 12. Nov 21		Lec 21. Lec 22.
Week 13. Nov 28		Lec 23. Nonlinear multivariable control problem; stability and tracking; inverse dynamics; passitivity based control; robust and adaptive control. Lec 24.
Week 14. Dec 5	Ashura holidays Dec 5-6;	Lec 25.
Week 15. Dec 12		Introduction to force control techniques. Lec 26. Lec 27.
Week 16. Dec 19	Last day of classes Dec 20; Reading/review Dec 21-24;	Lec 28.
Week 17. Dec 26	Final Exams Dec 26-Jan 02; Grade submission deadline Jan 13;

@@ Line 101: / Line 101: @@
 |-
 | align ="left" | Week 2. Sept 12
-| align ="left" | Drop deadline Sept 14;
+| align ="left" | Drop deadline Sept 14; Classes cancelled due to Dengue outbreak
 | align ="left" | '''Lec 2.''' workspaces; configuration spaces; planning algorithms;
-'''Lec 3.'''
 | align ="left" |
 |-
 | align ="left" | Week 3. Sept 19
+| align ="left" | No classes due to Dengue Outbreak.
 | align ="left" |
-| align ="left" | Forward kinematics; inverse kinematics; velocity kinematics.
-'''Lec 4.'''
-'''Lec 5.'''
 | align ="left" |
 |-
 | align ="left" | Week 4.Sept 26
-| align ="left" |
+| align ="left" | Classes resumed; Semester pushed back by one week
-| align ="left" | '''Lec 6.'''
+| align ="left" | '''Lec 3.'''
-'''Lec 7.'''
+'''Lec 4.''' Cancelled.
 | align ="left" |
 |-
 | align ="left" | Week 5. Oct 3
 | align ="left" |
-| align ="left" | Configuration spaces; artificial potential fields.
+| align ="left" | Forward kinematics; inverse kinematics; velocity kinematics.
 '''Lec 8.'''
@@ Line 134: / Line 129: @@
 | align ="left" |
 '''Lec 10.'''
+Configuration spaces; artificial potential fields.
 Roadmaps for trajectory generation; trajectory planning.