Course
PostgraduateSemester
ElectivesSubject Code
AVC861Subject Title
Modeling and Control of Robotic SystemsSyllabus
Introduction: Components and mechanisms of robotic systems, Robot Manipulators, Wheeled Robots, Legged robots, Autonomous Robots, Joint actuators and Sensors.
Robot Kinematics: Rotation Kinematics, Rotation matrix, Euler angles, Axis-angle representation, Rodrigues formula, Different types of Coordinate transformations, Kinematics of rigid motion, Homogeneous transformation, Modified DH Convention, Typical examples
Differential Kinematics and Statics: Joint configuration space and Task space of robots, Jacobian matrix and Differential motion, Kinematic singularities, Redundancy analysis, Closed loop Inverse Kinematics, Statics, Kineto-static duality, Velocity and force transformations, Spatial vector algebra, Unified representation for rigid motion, Rigid body transformation matrix
Dynamics: Joint space inertia matrix, Computation of kinetic and potential energies, Dynamical model of simple manipulator structures, Dynamics of Serial chain multibody systems, Euler-Lagrange and Newton- Euler formulations, Forward dynamics and inverse dynamics
Motion control: The control problem, Joint space control, Decentralized control, Computed torque feedforward control, Centralized control, PD Control with gravity compensation, Inverse dynamics control, Task space control, Control of redundant robotic manipulators.
Force Control: Manipulator interaction with environment, Compliance control, Impedance control, Force control, Constrained motion, Hybrid force/motion control
Text Books
Same as Reference
References
1. Robot Modelling and Control, M.W.Spong, S.Hutchinson and M. Vidyasagar, John Wiley & Sons Inc., 2006.
2. Course notes on Modelling and Control of Robotic Systems by Sam K Zachariah.
3. Robot and Multibody dynamics – Analysis and Algorithms, Abhinandan Jain, Springer, 2011
4. A Journey from Robot to Digital Human, Edward Y.L. Gu , Springer, 2013
5. Robotics- Modelling, Planning and Control, B.Siciliano, L. Sciavicco, L. Villani, G.Oriolo, Springer, 2009.
6. Springer Handbook of Robotics, B. Siciliano, O. Khatib (Eds) Springer, 2008.
7. Dynamics of Tree-Type Robotic Systems, S.V.Shah, S.K. Saha and J. K. Dutt, Springer, 2018.
Course Outcomes (COs):
CO1: Analytical skills in performing spatial transformations associated with rigid body motions and to perform kinematic analysis of robotic manipulators.
CO2: Understand the fundamentals in differential kinematics, multibody dynamics and computationally efficient algorithms.
CO3: Working knowledge of joint space and task space concepts and control algorithm design for robotic systems.
CO4: Analytical and Computational skills in modelling, control design and simulation of robotic systems with a generic tree type topology using 6D spatial algebraic framework and Matlab programming environment.