ME 5960/6960 Section 4

Introduction to Robotic Control

Spring 2007

Syllabus

1. Elements of a Manipulator Model
   1. Rigid-body dynamics
   2. Actuator models
   3. Environmental models for contact
2. Linear System Theory
   1. Review: Complex variables
   2. Review: Laplace transforms
   3. Characteristic equation, transfer functions
   4. 1st and 2nd order response
   5. P, PD, and PID control
   6. Disturbance rejection
   7. Root locus plots
   8. Stability
3. Modeling and control of a single joint
   1. Electric motors and amplifiers
   2. Drive train modeling
   3. Joint sensors
   4. Bode plots
4. State Space Techniques
5. Decentralized Manipulator Control
6. Centralized Manipulator Control
   1. Computed torque
   2. Feed-forward linearization
   3. Advanced techniques (nonlinear, adaptive, robust, digital, etc)
7. Interaction Control
   1. Impedance Control
   2. Compliance Control
   3. Force Control