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1 Semester, 2013/2014

This document provides an overview of the Robot Kinematics, Dynamics and Control course offered at the National University of Singapore in the first semester of 2013/2014. The course covers topics such as spatial descriptions and transformations, manipulator kinematics, mechanics of robot motion, dynamics, trajectory planning, and control. It is a 4 MCs course consisting of 5 lecture hours and 1 tutorial hour per week. Student assessment includes two quizzes worth 30% and a final exam worth 70% of the grade. References for further reading and contact information for the two lecturers are also provided.

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98 views2 pages

1 Semester, 2013/2014

This document provides an overview of the Robot Kinematics, Dynamics and Control course offered at the National University of Singapore in the first semester of 2013/2014. The course covers topics such as spatial descriptions and transformations, manipulator kinematics, mechanics of robot motion, dynamics, trajectory planning, and control. It is a 4 MCs course consisting of 5 lecture hours and 1 tutorial hour per week. Student assessment includes two quizzes worth 30% and a final exam worth 70% of the grade. References for further reading and contact information for the two lecturers are also provided.

Uploaded by

pseudobb
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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1st Semester, 2013/2014

National University of Singapore Department of Mechanical Engineering Faculty of Engineering ME4245/ME4245E: Robot Kinematics, Dynamics and Control (4 MCs) Introduction, Spatial Descriptions and Transformations, Manipulator Forward and Inverse Kinematics, Mechanics of Robot Motion, Robot Dynamics, Static Forces and Torques, Trajectory Planning, Robot Control Contents 1. Hours (lecture + tutorial) 5

Introduction, Spatial Descriptions and Transformations Robot definition. Robot classification. Robotics system components. Notations. Position definitions. Coordinate frames. Different orientation descriptions. Free vectors. Translations rotations and relative motion. Homogeneous transformations.

2.

Manipulator Forward and Inverse Kinematics Link coordinate frames. Denavit-Hartenberg convention. Joint and endeffector Cartesian space. Forward kinematics transformations of position. Inverse kinematics of position. Solvability. Trigonometric equations. Closed-Form Solutions. Workspace. Mechanics of Robot Motion Translational and rotational velocities. Velocity Transformations. The Manipulator Jacobian. Forward and inverse kinematics of velocity. Singularities of robot motion. Static Forces and Compliance Transformations of static forces and moments. Joint and EndEffector force/torque transformations. Robot Dynamics and Trajectory Planning Lagrangian formulation. Model properties. Newton-Euler equations of motion. Simulations. Joint-based motion planning. Cartesian-based path planning. Robot Control Independent joint control. Feedforward control. Inverse dynamics control. Robot controller architectures. Implementation problems.

3.

4.

5.

10

6.

Total

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Assessment 2 Quizzes (30 %) Final Exam (70%) Completion of Mandatory Laboratory Exercise (All quizzes and final examination are open book/notes.) References 1. Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. Second Edition (ISBN 1-85233-221-2), Springer Verlag, London, 2000. (Recommended for purchase) 2. Fu K.S.,, Gonzalez R.C., and Lee C.S.G. Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill, NY, 1987. (Recommended for purchase) 3. Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. McGraw Hill, 1996. 4. Craig, J.J., Introduction to Robotics, Mechanics, and Control. 2nd Edition. Addison Wesley, MA, 1989. (3rd Edition, if available) 5. Spong, M.W. and Vidyasagar, M., Robot Dynamics and Control, Wiley, New York, 1989. 6. Paul, Richard P., Robot Manipulators : Mathematics, Programming, and Control : the Computer Control of Robot Manipulators, MIT Press, Cambridge, Mass., 1981. 7. Lewis F.L., Abdallah C.T., and Dawson D.M., Control of Robot Manipulators, Maxwell Macmillan International, 1993. References are available in Recommended Book Room (Central Library) Lecturers: Topics 1-4: Dr. Marcelo H. Ang Jr E1-07-07 Topics 5-6: Prahlad Vadakkepat

6516-2555 [email protected]

E4-08-04

6516-2296 [email protected]

WWW Page: http://guppy.mpe.nus.edu.sg/~mpeangh/me4245 Please refer to this webpage regularly. Webpage has exercises and past quizzes/exams. Please also regularly refer to IVLE. Class schedule ME4245 ME4245E (TBC) Mondays and Wednesdays, 4-6 pm, LT4 Wednesdays, 6-9:30 pm, E2-03-02

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