This course is organized by modern control theory and robot control method. At first, representation and analysis of a linear system are explained based on state-space representation. After that, as a nonlinear system, robot control methods are explained.
By the end of this course, students will be able to;
(1) Modern control system
(a) Represent a linear system by a state-space formulation
(b) Assess controllability and observability of the linear system
(c) Design a controller based on pole assignment, linear quadratic regulator and observer.
(2) Robot control
(a) Understand kinematics and statics of a manipulator
(b) Understand dynamics of a manipulator
(c) Design a compliance controller
Modorn control theory, kinematics, statics, dynamics
Intercultural skills | Communication skills | Specialist skills | Critical thinking skills | Practical and/or problem-solving skills |
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- | - | ✔ | - | - |
This course is mainly organized lectures. Since each lecture requires the knowledge of the previous lecture, the students have to well review the previous lessons.
Course schedule | Required learning | |
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Class 1 | Dynamic equation and state-space equation | Obtain State-space equation of a linear system |
Class 2 | Transfer function and state-space equation | Transfer transfer function into state-space equation, state-space equation into transfer function |
Class 3 | Stability analysis of state-space equation | Assess the stability of the system based on eigen values of state transition matrix |
Class 4 | Connection of systems and minimum realization | Calculate minimum realization from transfer function |
Class 5 | Controllability and observability | Assess controllability and observability of state-space equation |
Class 6 | State feedback and pole assignment | Design a state feedback controller based on pole assignment theory |
Class 7 | Optimal control | Design an optimal controller using Linear quadratic regulator |
Class 8 | Observer and Kalman filter | Estimate state value using observer theory |
Class 9 | Kinematics and coordinates transformation | Understand robot kinematics |
Class 10 | Euler angle and orientation | Represent link orientation using Euler angle |
Class 11 | Inverse kinematics and Newton-Raphson method | Obtain a solution of inverse kinematics using Newton-Raphson method |
Class 12 | Statics and Virtual work principal | Obtain a solution of statics using Virtual work principal |
Class 13 | Forward/inverse dynamics | Obtain a solution of forward/inverse dynamics based on dynamic equation |
Class 14 | Linearization of nonlinear systems | Linearize a nonlinear system based on Taylor expansion or linearized feedback |
Class 15 | Compliance control, Impedance control | Design Compliance controller and Impedance controller |
Robotics, The Japan Society of Mechanical Engineering(Whan Omata teaches)
None
Final exam
Students should have taken "MEC.I211 Robot Kinematics" and "MEC.I312 Modeling and Control Theory" or have equivalent knowledge.