ECSE-4490 FUNDAMENTALS OF ROBOTICS

 

                                                                            Fall  2004

 

                                                                   COURSE OUTLINE

 

Instructor:             A. Desrochers, Professor

Electrical, Computer, and  Systems  Engineering  Department

JEC 7020

518/276-6718 - Phone         518/276-8715 - FAX

aad@ecse.rpi.edu

 

Textbook:            Fundamentals  of  Robotics,  R. J. Schilling,  Prentice Hall, 1990.

 

Exam Dates:        Thursday, October 14,

                              Monday, November 15.

 

Grading:              Exam I                    25%   Cheating on exams will result in a grade of F for the course.

                              Exam II                 25%

                              Final Exam            35%

                              Homework            15%    Homework is due in class. No credit for late homework.                      Copying homework will result in a grade of zero for that                    assignment. One assignment will be dropped.

 

Academic Integrity: See  http://www.rpi.edu/dept/doso/hndbk02‑04.pdf for policies on academic integrity. The information on pages 10 and 11 (Additional Policies) is particularly relevant.

 

Course Materials: Class notes, homework assignments, past exams and links to videos of the lectures are available at the course homepage. Go to www.ecse.rpi.edu, click on academics, then click on course homepages, and then look for ECSE-4490, Fall 2003 and Fall 2004 semesters.

 

Date            Topic                                                                                                      Reading

 

8/30             Introduction to Robot Dynamics and Control                                     Schilling,

Robot classification, basic components, motion                                         Chapter 1.

classification, world coordinates vs. joint coordinates.

 

9/2               Introduction to Robotic Systems                                                          Schilling,

Sensors, robot specifications, repeatability, precision,                               Chapter 1.

and accuracy, servo-controlled robots.                                                    

 

 

Date            Topic                                                                                                      Reading

 

9/9               Basic Robot Engineering Problems                                                     Schilling,

Mobile robots and task planning, trajectory planning,                                Chapter 9,

trajectory generation, the inverse kinematics problem,                               pp. 357-378.

manipulator control, forward kinematics problem,

and joint coordinates vs. world coordinates.

 

9/13             Coordinate Transformations:  Part I                                                   Schilling,

The direct kinematics problem, dot products,                                           pp. 18-35.

transformation matrices between coordinate systems,

inverse coordinate transformations, rotation

transformations.

 

9/16             Coordinate Transformations:  Part II                                                  Schilling,

Composite rotation matrices, yaw-pitch-roll                                             pp. 36-48.

transformations, equivalent angle-axis rotation matrix,

composite rotations and translations in homogeneous

coordinates, inverse homogeneous transformations.

 

9/20             Link Coordinates                                                                                  Schilling,

Link parameters, the Denavit-Hartenberg representation.                          pp. 51-57.

 

9/23             The Arm Equation                                                                                 Schilling,

Screw transformations, composite coordinate                                           pp. 57-61,

transformation matrices, mapping tool coordinates into                              49-51.

base coordinates.

 

9/27             Inverse Kinematics                                                                               Schilling,

The inverse kinematics problem, tool-configuration                                   pp. 81-90,

space and joint space, the tool-configuration vector.                                 105-109.

 

9/30             Kinematics and Inverse Kinematics of a SCARA Robot                   Schilling,

Kinematics and inverse kinematics of robot arms with                               pp. 68-71,

revolute and prismatic joints, the global tool roll                                        96-100.

angle.

 

10/4             Kinematics and Inverse Kinematics of the Rhino XR-3                    Schilling,

Kinematics and inverse kinematics of a five-axis                                       pp. 62-68,

articulated robot.                                                                                     90-96.

 

10/7             Kinematics and Inverse Kinematics of the Intelledex 660                 Schilling,

Kinematics and inverse kinematics of a six-axis                                         pp. 71-76,

articulated robot.                                                                                     100-105.

 

Date            Topic                                                                                                      Reading

 

10/12           (This is a TUESDAY, but classes follow a MONDAY SCHEDULE.)

Trajectory Planning:  Part I                                                                  Schilling,

Arm matrices for pick and place operations, nut                                       pp. 124-135.

fastening trajectories.

 

10/14           EXAM I

 

10/18           Trajectory Planning:  Part II                                                                Schilling,

Continuous-path motion, path vs. trajectory                                              pp. 135-146.

planning, speed profiles, straight-line motions,                                          

trajectory smoothing, interpolation, parabolic blending.

 

10/21           The Tool-Configuration Jacobian                                                        Schilling,

Tool-configuration Jacobian matrix, joint-space                                        pp. 153-165.

singularities,  resolved-motion rate  control.

 

10/25           The Manipulator Jacobian: Part I                                                       Schilling,

The manipulator Jacobian matrix vs. the tool-                                           pp. 174-186.

configuration Jacobian matrix.

 

10/28           Manipulator Dynamics                                                                         Schilling,

Kinetic and potential energy, inertia tensor, the link                                   pp. 194-201.

Jacobian, manipulator inertia tensor, the

Lagrangian.

 

11/1             The Lagrange-Euler Dynamic Model                                                  Schilling,

The dynamic model of an n-link  manipulator.                                           pp. 201-212.

 

11/4             Dynamic Model of a SCARA Robot                                                   Schilling,

pp. 212-220.

 

11/8             Single-Joint Controllers for Robots                                                     Motion Control

Controller design problems, Stanford Manipulator                                    article (handout)

case study, modeling the gear-load system, actuator                                 pp. 943-953.

modeling, velocity feedback, damping ratio and the                                   Schilling, pp.              natural frequency.    256‑276.

 

11/11           Single-Joint Controller Design                                                             Motion Control

                    Finding the damping ratio and natural frequency,                                       article, pp. 943-953.

limitations of the classical control approach, finding                                   Schilling,

the steady-state errors for a step and ramp input.                                      pp. 256-276.

 

 

Date            Topic                                                                                                      Reading

 

11/15           EXAM II

 

11/18           Positioning Errors with Single-Joint Controllers                                 Motion Control

Position and velocity errors for a single-joint control                                 article, pp. 943-953.

system, disturbances acting on the arm, steady-state                                 Schilling,

errors when there are disturbances, compensating for                               pp. 256-276.

steady-state errors.

 

11/22           Multiple-Joint Control Issues                                                              Motion Control

Problems involved in controlling multiple-joint                                           article, pp. 943-953.

manipulators, sources of dynamic interactions between                             Schilling,

joints, difficulties in compensating for joint-                                               pp. 256-276.

coupling effects.

 

11/29           Computed-Torque Control                                                                   Schilling,

State equations, application of the Lagrange-Euler                                    pp. 234-237,

dynamic model to robot control.                                                               283-289.

 

12/2             The Manipulator Jacobian:  Part II                                                     Schilling,

Induced joint torques and forces, stiffness and                                          pp. 181-190.

compliance matrix from the manipulator Jacobian,

joint-space singularities.

 

12/6             Impedance Control                                                                               Schilling,

pp. 298-303.

 

12/9             Review 

 

                                                               Some Robotic WEB Sites

 

1. FANUC Robotics

                                                           www.fanucrobotics.com

 

    Click on Robots and you'll find a very good selection of robot designs and robot applications.

 

2. Adept Technology Inc.

                                                                 www.adept.com

 

     Click on Products. Under Robot Systems the AdeptOne is the SCARA robot used throughout      this course.

 

3. HelpMate Robotics Inc.

                                                        www.helpmaterobotics.com

 

     Click on the HelpMate Robotic Courier System. This is a hospital service robot.

 

4. ABB

                                                                   www.abb.com

 

     This one requires a little more work to get to their robotic products.

 

      Click for Contents, then click on Industrial and Building Systems, then click on Flexible Automation, and there are several choices for robotics products, robotics systems, applications, etc.

 

5. Jet Propulsion Laboratory - Robotics and Mars Exploration Technology

                                                                rmet.jpl.nasa.gov

 

        You can spend all day here. Start by clicking on Rovers & Telerobotics, then Robotics Technology, then Planetary Exploration, then Sample Retrieval Rover. Nanorovers is another interesting page.

 

         If you go back to where you clicked on Robotics Technology, click again, then scroll down the text and click on Robotic Technology and Terrestrial Spin-Offs. Next, click on Robotic-Assisted Microsurgery. Read the background information and then Visit the Robot Assisted Microsurgery Web Site.