In this course the
kinematics, dynamics analysis and control of robot manipulators is studied in
detail. A review of kinematics analysis of serial manipulators, which is
detailed in the prerequisite course MECH 572: Introduction to Robotics is
presented here with an addition topic of screw and wrench representations.
The main emphasis of the course is the mechanics of complex structured robots
such as parallel manipulators. Comprehensive kinematics and dynamic analysis
of parallel manipulators is presented, and the control topologies for these
robots are described. In a comprehensive design project the students learn
how to analyze the kinematics and dynamics of a planar parallel manipulator.
The tentative course contents are as following.
Time:
Teaching Contents
Week 1:
Introduction:Kinematic chains, Grubler
criterion, loop mobility criterion, robot classifications, description of
position and orientation, screw-axis representation, Euler angle
representations.
Week 2:
Kinematics:Review
on position analysis of serial manipulators, DenavitHartenberg convention, loop closure equations,
kinematic analysis or 3R manipulator, successive screws, Elbow robot.
Week 3, 4:
Kinematics:Inverse Kinematics of General 6R
manipulator. (By Jorge Angeles)
Week 5:
Kinematics:Kinematics analysis of parallel manipulators,
vector loop equations, 3RRR manipulator, spatial orientation manipulator
and Stewart Gough manipulator.
Week 6:
Jacobian: Angular and linear velocity,
Jacobian matrices, Singularity conditions, conventional Jacobians, 3RRR
manipulator, spatial orientation manipulator and Stewart Gough manipulator,
Screw-based Jacobians.
Week 7:
Stiffness:Force-moment relations, principle of
virtual work, 3RRR manipulator, stiffness analysis of parallel manipulators,
stiffness analysis of Stewart-Gough platform.
Midterm Exam
Week 8:
Dynamics:Dynamics
analysis of parallel manipulators, Newton-Euler formulation, dynamic
analysis of Stewart-Gough platform.
Week 9:
Dynamics: dynamics
analysis of parallel manipulators, Principle of virtual work, Lagrange
formulation, dynamic analysis of CKCM Robot.
Week 10:
Control:Introduction to control of parallel
manipulators, position control topologies, inverse dynamics control.
Week 11:
Control:
Robust inverse dynamics control, Force control topologies stiffness
control.
Week 12:
Control:
Force control topologies: Direct force control,
impedance control.
1
Lung-Wen Tsai, “Robot analysis: the mechanics of serial
and parallel manipulators”, New
York, Wiley, 1999. (Available at Bookstore)
2
Jorge Angeles, “Fundamentals of robotic mechanical
systems: theory, methods, and algorithms”, New York, Springer, third edition
2006. (A printed version can be purchased from Irene)
3
M. W. Spong, S. Hutchinson, M.
Vidyasagar, “RobotModelingandControl”, New York,
Wiley, November 2005.
4
L. Sciavicco, B. Siciliano, “Modelling and
Control of Robot Manipulators” , Springer Verlag
2nd ed. 2001
5
J.P. Merlet, “Parallel
robots”, Boston, MA :Kluwer Academic
Publishers, 2000.
6
Carl Crane, “Screw theory for spatial robot
manipulators”, Cambridge, Oxford, 2005.
7
John J. Craig, “Introduction to robotics: mechanics
and control”, Mass.,
Addison-Wesley, 1989.
8
Frank Lewis, “Robot manipulator control
: theory and practice”, New
York : Marcel Dekker, 2004.
