CMPE-633-Fall2011

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! width="75%" colspan="2" | CMPE-633: Topics in Robotics and Control
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! width="75%" colspan="2" | CMPE-633B: Robot Kinematics, Dynamics and Control
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Fall 2011: Robot Dynamics and Control
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|- style="background:#e0e0e0; color:black; font-size:18px; -moz-border-radius:8px;"
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! width="75%" colspan="2" | Fall 2011
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===Course Description===
===Course Description===
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[[Image:spong_book.jpg|right|200px]]
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[[Image:choset_book.jpg|right|150px]]
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[[Image:craig_book_farsi.jpg|right|150px]]
 +
====Generic====
====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.  
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.  
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===Text book===
===Text book===
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[[Image:spong_book.jpg|right|200px]]
 
-
[[Image:choset_book.jpg|right|150px]]
 
The course will be taught from a combination of the following textbooks.  
The course will be taught from a combination of the following textbooks.  
'''Primary Texts'''
'''Primary Texts'''
* [http://smpp.northwestern.edu/savedLiterature/Spong_Textbook.pdf  Robot Dynamics and Control] by Spong et al. (Available as free legal download)
* [http://smpp.northwestern.edu/savedLiterature/Spong_Textbook.pdf  Robot Dynamics and Control] by Spong et al. (Available as free legal download)
 +
* [http://www.springer.com/engineering/robotics/book/978-1-84628-641-4 Robotics: Modelling, Planning and Control] by Siciliano et al.
 +
'''Secondary Texts'''
* [http://www.cs.cmu.edu/~biorobotics/book/ Principles of Robot Motion] by Choset et al. (Available as low priced edition)  
* [http://www.cs.cmu.edu/~biorobotics/book/ Principles of Robot Motion] by Choset et al. (Available as low priced edition)  
*      [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page A Mathematical Introduction to Robotic Manipulation] by Murray, Li and Sastry. (Available as free legal download)
*      [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page 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.
-
'''Secondary Texts'''
+
===Resources===
-
* [http://planning.cs.uiuc.edu/ Planning Algorithms] by Steve Lavalle. (Available as free legal download)
+
* [http://petercorke.com/Robotics_Toolbox.html Robotics Toolbox for MATLAB].  
-
* [http://robots.stanford.edu/probabilistic-robotics/ Probabilistic Robotics] by Thrun et al.
+
-
* Research papers.
+
===Similar Courses===
===Similar Courses===
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== Schedule ==
== Schedule ==
{|border="1"
{|border="1"
-
! WEEK !! TOPICS !! READINGS/REFERENCES
+
! WEEK !! LUMS CALENDAR !! TOPICS !! READINGS/REFERENCES
|-
|-
| align ="left" | Week 1. Sept 5
| align ="left" | Week 1. Sept 5
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|-
|-
| align ="left" | Week 2. Sept 12
| 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; bug algorithms; Bug0 and Bug1 algorithms;
+
| align ="left" | '''Lec 2.''' workspaces; configuration spaces; planning algorithms;  
-
'''Lec 3.'''
+
-
 
+
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 3. Sept 19
| align ="left" | Week 3. Sept 19
 +
| align ="left" | No classes due to Dengue Outbreak.
| align ="left" |  
| align ="left" |  
-
| align ="left" | Forward kinematics; inverse kinematics; velocity kinematics.
 
-
'''Lec 4.'''
 
-
 
-
'''Lec 5.'''
 
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 4.Sept 26
| 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.'''
 
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 5. Oct 3
| align ="left" | Week 5. Oct 3
| align ="left" |  
| align ="left" |  
-
| align ="left" | '''Lec 8.'''
+
| align ="left" | Forward kinematics; inverse kinematics;
 +
'''Lec 4.'''
-
'''Lec 9.'''
+
'''Lec 5.'''
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 6. Oct 10
| align ="left" | Week 6. Oct 10
| align ="left" |  
| align ="left" |  
-
| align ="left" | Configuration spaces; artificial potential fields.
 
-
'''Lec 10.'''
 
-
 
-
'''Lec 11.'''
 
| align ="left" |  
| align ="left" |  
 +
'''Lec 6.'''
 +
 +
'''Lec 7.'''
 +
 +
| align ="left" | [[Media:CMPE-633b-HW1.pdf|HW1]]
|-
|-
| align ="left" | Week 7. Oct 17
| align ="left" | Week 7. Oct 17
| align ="left" |  
| align ="left" |  
-
| align ="left" | '''Lec 12.'''
+
| align ="left" | '''Lec 8.'''
-
'''Lec 13.'''
+
 
 +
'''Lec 9.'''
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 8. Oct 24
| align ="left" | Week 8. Oct 24
-
| align ="left" | Midterms Oct 26-Nov 4;
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| align ="left" |  
-
| align ="left" | Roadmaps for trajectory generation; trajectory planning.
+
| align ="left" |  
-
'''Lec 14.'''
+
 
 +
'''Lec 10.'''
 +
 
 +
'''Lec 11.'''
-
'''Lec 15.'''
 
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 9. Oct 31
| align ="left" | Week 9. Oct 31
| align ="left" |  
| align ="left" |  
-
| align ="left" | Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy.
+
| align ="left" |  
-
'''Lec 16.'''
+
 
 +
Mobile kinematics (Invited Lectures. Dr Karsten Berns)
 +
'''Lec 15.'''
 +
 
 +
'''Lec 16.'''  
 +
 
-
'''Lec 17.'''
 
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 10. Nov 7
| align ="left" | Week 10. Nov 7
| align ="left" | Eid-ul-Azha holidays Nov 7-9;
| align ="left" | Eid-ul-Azha holidays Nov 7-9;
-
| align ="left" | '''Lec 18.'''
+
| align ="left" |  
 +
Roadmaps for trajectory generation; trajectory planning.
 +
'''Lec 18.'''  
| align ="left" |  
| align ="left" |  
|-
|-
| align ="left" | Week 11. Nov 14
| align ="left" | Week 11. Nov 14
 +
| align ="left" | Midterms
| align ="left" |  
| align ="left" |  
-
| align ="left" | Independent joint control; actuator dynamics; set point tracking; drive train dynamics; PD, PID control techniques.
+
 
'''Lec 19.'''
'''Lec 19.'''
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| align ="left" | Week 12. Nov 21
| align ="left" | Week 12. Nov 21
| align ="left" |  
| align ="left" |  
-
| align ="left" | '''Lec 21.'''
+
| align ="left" | Velocity kinematics.
 +
'''Lec 21.'''
'''Lec 22.'''
'''Lec 22.'''
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| align ="left" | Week 13. Nov 28
| align ="left" | Week 13. Nov 28
| align ="left" |  
| align ="left" |  
-
| align ="left" | Nonlinear multivariable control problem; stability and tracking; inverse dynamics; passitivity based control; robust and adaptive control.
+
| align ="left" |  
'''Lec 23.'''
'''Lec 23.'''
 +
 +
'''Lec 24.'''
'''Lec 24.'''
| align ="left" |  
| align ="left" |  
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| align ="left" | Week 15. Dec 12
| align ="left" | Week 15. Dec 12
| align ="left" |  
| align ="left" |  
-
| align ="left" | Introduction to force control techniques.
+
| align ="left" | Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy.
'''Lec 26.'''
'''Lec 26.'''
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| align ="left" | Week 17. Dec 26
| align ="left" | Week 17. Dec 26
| align ="left" | Final Exams Dec 26-Jan 02; Grade submission deadline Jan 13;
| align ="left" | Final Exams Dec 26-Jan 02; Grade submission deadline Jan 13;
-
| align ="left" |  
+
| align ="left" | Nonlinear multivariable control problem; stability and tracking; inverse dynamics; passitivity based control; robust and adaptive control.
 +
 
| align ="left" |  
| align ="left" |  
|-
|-
|}
|}
 +
 +
===Project Ideas===
 +
You can choose a project covering one of the following themes using help from literature reported in books, conferences and journals.
 +
 +
====Applications====
 +
Study, formulate and simulate the kinematics, dynamics and control of a robotic mechanism. e.g.
 +
* Underwater robots
 +
* Hopping robots
 +
* Climbing robots
 +
* Legged robots
 +
* Flapping wing aerial robots
 +
* Flexible needles for robotic surgery
 +
 +
====Techniques====
 +
Study a technique underpinning robot modeling and control systems.
 +
* Visual servoing
 +
* Force feedback / haptics
 +
* Stabilization of bipedal and otehr types of legged robots
 +
* Under-actuated systems
 +
* Kinodynamic motion planning
 +
* Control issues in wheeled robots
 +
* Dynamical models for autonomous driving and road conditions
 +
 +
====Resources====
 +
Please take help from the following journals and conferences.
 +
* IEEE Transactions on Robotics
 +
* International Journal of Robotics Research (IJRR)
 +
* Robotics, Science & Systems Conference (RSS)
 +
* IEEE International Conference on Robotics and Automation (ICRA)
 +
* IEEE International Conference on Intelligent Robotics and Systems (IROS)

Current revision

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


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

Secondary Texts

Resources

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 READINGS/REFERENCES
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.
Week 5. Oct 3 Forward kinematics; inverse kinematics;

Lec 4.

Lec 5.

Week 6. Oct 10

Lec 6.

Lec 7.

HW1
Week 7. Oct 17 Lec 8.


Lec 9.

Week 8. Oct 24

Lec 10.

Lec 11.

Week 9. Oct 31

Mobile kinematics (Invited Lectures. Dr Karsten Berns) Lec 15.

Lec 16.


Week 10. Nov 7 Eid-ul-Azha holidays Nov 7-9;

Roadmaps for trajectory generation; trajectory planning. Lec 18.

Week 11. Nov 14 Midterms

Lec 19.

Lec 20.

Week 12. Nov 21 Velocity kinematics.

Lec 21.

Lec 22.

Week 13. Nov 28

Lec 23.


Lec 24.

Week 14. Dec 5 Ashura holidays Dec 5-6; Lec 25.
Week 15. Dec 12 Rigid body dynamics; Euler-Lagrange equations; kinetic and potential energy.

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; Nonlinear multivariable control problem; stability and tracking; inverse dynamics; passitivity based control; robust and adaptive control.

Project Ideas

You can choose a project covering one of the following themes using help from literature reported in books, conferences and journals.

Applications

Study, formulate and simulate the kinematics, dynamics and control of a robotic mechanism. e.g.

  • Underwater robots
  • Hopping robots
  • Climbing robots
  • Legged robots
  • Flapping wing aerial robots
  • Flexible needles for robotic surgery

Techniques

Study a technique underpinning robot modeling and control systems.

  • Visual servoing
  • Force feedback / haptics
  • Stabilization of bipedal and otehr types of legged robots
  • Under-actuated systems
  • Kinodynamic motion planning
  • Control issues in wheeled robots
  • Dynamical models for autonomous driving and road conditions

Resources

Please take help from the following journals and conferences.

  • IEEE Transactions on Robotics
  • International Journal of Robotics Research (IJRR)
  • Robotics, Science & Systems Conference (RSS)
  • IEEE International Conference on Robotics and Automation (ICRA)
  • IEEE International Conference on Intelligent Robotics and Systems (IROS)
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