2019 Robot Control System Design

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Academic unit or major
Graduate major in Mechanical Engineering
Instructor(s)
Okada Masafumi 
Course component(s)
Lecture
Day/Period(Room No.)
Tue5-6(S011)  
Group
-
Course number
MEC.H531
Credits
1
Academic year
2019
Offered quarter
1Q
Syllabus updated
2019/3/18
Lecture notes updated
-
Language used
English
Access Index

Course description and aims

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.

Student learning outcomes

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.

Keywords

PD control, Forward/Inverse kinematics, Statics, Forward/Inverse dynamics, Conpliance control

Competencies that will be developed

Intercultural skills Communication skills Specialist skills Critical thinking skills Practical and/or problem-solving skills
- - - -

Class flow

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

  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

Textbook(s)

None

Reference books, course materials, etc.

Masafumi Okada, Basic and Application of System Control (Japanese)

Assessment criteria and methods

Final exams

Related courses

  • MEC.H432 : Multibody Systems
  • MEC.H434 : Advanced Course of Actuator Engineering

Prerequisites (i.e., required knowledge, skills, courses, etc.)

None

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