UNIVERSITY OF CINCINNATI

ROBOTICS II-- Robot Control

20-265-637

WINTER QUARTER, JAN-MARCH 1998

3:30-6:30 PM Tuesday

Room 862 Baldwin

INSTRUCTOR: Dr. E.L. Hall, ROOM: 659 Baldwin, PHONE: 556-2730, EMAIL: Ernie.Hall@uc.edu, PAGER: 249-3197, WWW: http://www.eng.uc.edu/robotics

TEXT: Modeling and Control of Robot Manipulators, Lorenzo Sciavicco, Bruno Siciliano McGraw-Hill, 1996.

REFERENCE COMPUTER TEXTS: Using MATLAB to Analyze and Design Control Systems, 2nd Edition, N.E. Leonard and W.S. Levine, Benjamin/Cummings, 1995.

MATLAB Control System Toolbox User's Guide, Version 4, The Math Works Inc.

MATLAB Fuzzy Logic Toolbox User's Guide, Version 1, J.S. Roger Jang and Ned Gulley, The Math Works Inc.

 

  • Homework from Jan 20, 98
  • Scott's Solution to Homework from Jan 20, 98
  • Quiz 1 Due. Feb 10, 98

    Week Date Topics Notes

     

    1 Jan 6 Robot Servo Systems C. 1, S&S

    Basic control systems

    Transfer functions MATLAB Notes

    Frequency response

    MATLAB and SIMULINK

    2 Jan 13 Kinematics C.2, S&S

    Frequency response

    Performance Criteria

    Compensation networks

    3 Jan 20 Differential Kinematics and Statics C.3, S&S

    Electric Drive Robot Systems Notes

    D.C. motor model

    Motion control via computer Galil notes

    4 Jan 27 Dynamics C. 4, S&S

    Electric drive robot systems

    Single mass loading

    Robot kinematics example QUIZ 1

    Robot dynamics example

    5 Feb 3 Trajectory Planning C. 5, S&S

    Inverse dynamics

    6 Feb 10 Motion Control C.6, S&S

    Hydraulic robot systems

    Motors, servovalves

    Hydraulic valve-motor combinations

    Hydraulic valve-piston combinations

    Structural dynamics

    7 Feb 17 Interaction Control C. 7, S&S

    Compensation network design

    QUIZ 2

    8 Feb 24 Actuators and Sensors, C. 8, S&S

    Robust control

    9 March 3 Control Architecture C.9, S&S

    Adaptive control

    1. March 10 Fuzzy Logic Control Fuzzy Logic Toolbox
    2. March 20 FINAL (1:30--3:30)

    Homework will be assigned periodically and graded. A digital robot control compensator design project will be a major part of the course.

    Note: A complete set of MATLAB documentation is available in the form of PDF files on the College Computing System. ) for instructions and assistance on how to access the MATLAB Documentation (PC and UNIX) Online.