This course focuses on how to control a robot system. The basic of robot control is in motor position/force control, and design of motor reference requires kinematics and dynamics. The topics of this course include motor PD control, forward/inverse kinematics, statics, forward/inverse dynamics and compliance control, which are illustrated mathematically and dynamically.
By the end of this course, students will be able to:
(1) Design a PD controller that satisfies the stability of the closed loop system
(2) Implement PD control algorism into PC control of a motor system
(3) Design a motor reference for a given trajectory of the end effector
(4) Design a motor torque that yields appropriate force in the end effector
(5) Design a compliance controller.
PD control, Forward/Inverse kinematics, Statics, Forward/Inverse dynamics, Conpliance control
✔ Specialist skills | Intercultural skills | Communication skills | Critical thinking skills | Practical and/or problem-solving skills |
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 | |
---|---|---|
Class 1 | Classical control theory and motor control | PD control, Final-value theorem, Nyquist stability criterion |
Class 2 | Implementation of motor control into PC system | Discrete time system, Pseudo-differential |
Class 3 | Kinematics | Forward/Inverse kinematics |
Class 4 | Kinematics of closed kinematic chain | Closed kinematic chain, Constraint |
Class 5 | Statics | Statics, Virtual work principal |
Class 6 | Compliance control | Compliance ellipsoid, Compliance control |
Class 7 | Generalized coordinates and dynamics | Degree of freedom, generalized coordinates |
Class 8 | Application of robot control | Robot control |
None
Masafumi Okada, Basic and Application of System Control (Japanese)
Final exams
None