This course will provide a comprehensive overview of robot control. Starting from the basis of kinematics and dynamics of manipulators, control of wheeled robots, redundant manipulators, and group robots will be introduced. At the end of the course, students must be able to derive controllers using model-based position control, impedance control, hybrid control, Lyapunov-stability based control.
Many types of robot have been introduced in our society. Through the course, students will gain an understanding of control system that will lead them to advanced control theory and realization of their own robotic systems.
At the end of the course, students must be able to derive controller for robots by using model-based control, Lyapunov-stability based control, and to become familiar with control methods for redundant manipulator, mobile robots, and group robots.
Model-based control, Lyapunov stability, Redundant manipulator
|Intercultural skills||Communication skills||✔ Specialist skills||Critical thinking skills||Practical and/or problem-solving skills|
In class, quiz or short report will be presented to introduce the topics of the lecture. Then, main points will be discussed.
|Course schedule||Required learning|
|Class 1||Introduction to robotic systems and control||Students must be able to explain a structure of a manipulator and to derive Jacobian matrix with referring to coordinate systems.|
|Class 2||Motion equation of a manipulator||Derive the motion equation of a manipulator. Students must be able to explain the properties of a motion equation of a manipulator.|
|Class 3||Model-based position control||Students must be able to design a model-based controller for position control of a manipulator.|
|Class 4||Model-based impedance control||Students must be able to design a model-based controller for impedance control of a manipulator.|
|Class 5||Hybrid control||Students must be able to design a hybrid controller for impedance and position control of a manipulator.|
|Class 6||Design of controller for manipulators||Solve the problems on the design of controller handed out in the class.|
|Class 7||Lyapunov stability and control||Students must be able to explain Lyapunov stability and to derive a controller based on it.|
|Class 8||Control of wheel-type mobile robot||Students must be able to explain a controller for a wheel-type mobile robot that has nonholonomic constraint.|
|Class 9||Singular value decomposition and manipulability||Solve the value decomposition problems. Students must be able to explain the manipulability of a manipulator.|
|Class 10||Redundant manipulator||Students must be able to derive a controller for a redundant manipulator.|
|Class 11||Control of wheeled and redundant robots||Solve the problems on the control of wheeled and redundant robots handed out in the class.|
|Class 12||Identification of manipulator||Students must be able to explain the method of identification of parameters in a motion equation of a manipulator.|
|Class 13||Path planning||Students must be able to derive a target trajectory for a robot.|
|Class 14||Control of group or swarm robot||Discuss about the issues to control a group or swarm of robots. Students should be familiar with the latest topics on autonomous robotic systems.|
|Class 15||Implementation and simulation||Students should become familiar with the issues on implementations and simulations of robots.|
Yoshikawa, T. (1988) Robot Seigyo Kisoron (in Japanese), Corona-sha.
Handouts will be distributed at the beginning of class when necessary.
Quiz and short reports: 20%, final exam : 80%
Students are expected to have the basic skills on dynamical systems and kinematics of robots.