Robot modeling and control

Graduate course @ Automatic Control

http://www.control.isy.liu.se/student/graduate/robot/

Mikael Norrlf mino@isy.liu.se

Erik Wernholt, Johanna Walln, Stig Moberg,

Course content
Robot modeling
Kinematics Dynamics

Path and trajectory planning Robot control

PID-based control Computed torque Adaptive control Force control

Tools (such as Robotics Toolbox, Modelica, RobotStudio) Programming in Rapid (ABB's language for robot programming) Robot programming hands on

Robot modeling and control

Course elements:
5 lectures, one of the lectures planned to be at ABB Robotics in Vsters Small project that includes the main features in the course Modelling Control Lab with small exercise in RobotStudio/IRB1400 in our research lab

Course literature:

M.W. Spong, S. Hutchinson, and M. Vidyasagar: Robot Modeling and Control L. Sciavicco and B. Siciliano: Modelling and Control of Robot Manipulators (2nd edition) J.J. Craig: Introduction to Robotics Mechanics and Control R.M. Murray, Z. Li, and S.S. Sastry: A mathematical introduction to Robotic Manipulation W. Stadler: Analytical Robotics and Mechatronics J-J. E. Slotine and W. Li: Applied Nonlinear Control

Robot modeling and control

M.W. Spong, S. Hutchinson, and M. Vidyasagar: Robot Modeling and Control
Covers the course well. Has chapters on Computer vision and Vision based control. Uses the same notation as we will use in the lectures.

L. Sciavicco and B. Siciliano: Modelling and Control of Robot Manipulators (2nd edition)
Covers the course well. Has chapters on actuators and sensors as well as system architecture

J.J. Craig: Introduction to Robotics Mechanics and Control

Covers the course well. Has chapters on manipulator design, robot programming and off-line programming

Robot modeling and control

R.M. Murray, Z. Li, and S.S. Sastry: A mathematical introduction to Robotic Manipulation
Covers kinematic modeling and dynamic modeling well. Has a more mathematical approach compared to the other books. Contains chapters on hand dynamics and grasping. Introduces Lie groups and robot kinematics.

Schedule
Date 081112 081126 081210 090121 Topic Introduction and rigid body motion (Chap 1-2) Kinematics, velocity kinematics, Jacobian (Chap 3-4) Dynamics, Newton-Euler, Lagrange (Chap 6-7) Path and trajectory generation, Rapid programming, Robot Studio (Chap 5 + additional material) Presented by TS, MN JW EW MN

090204 (prel) 09xx

ABB in Vsters. Robot Control (Chap 6, 8- @ ABB 9), visit at R&D lab, robot production facility, ... Project presentations

Exercises
Robot modeling
Kinematics Dynamics Physical parameters will be available

Control
Stabilization Tracking and disturbance rejection

Competition! See http://www.control.isy.liu.se/~stig

Result will be published in an invited session at IEEE CDC09 in Shanghai

Lab RobotStudio / IRB1400

If you take a course in robotics you have to have some practical experience! Introduction to motion programming Exercise include pneumatic gripper Framework can be developed in RobotStudio Final touch up in the lab

Projects (additional 3hp)

Could involve vision and control
State estimation using vision and other sensors. It is difficult to realize online control/vision solutions due to limited availability of the inner loops in controller hardware.

Further analysis of some aspect of robotic modeling and control

Modeling of robots with closed kinematic chains Path planning and control of kinematic redundant manipulators Sensor fusion Application of non-linear control Detailed component modeling Motor Gear-box

Some examples from robotics

Some examples from robotics

Video of Kuka/DLR robot (and more) (go to 3.30 in the film)

Some examples from robotics

Asimo Robot