METR4202 / 7202 – Adv.

Control & Robotics

Semester 2, 2006
Lecturer and Course Coordinator:

Dr. Geir Hovland

Room: 47-510
Phone: 3365-8349
Email: [email protected]
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 1

http://itee.uq.edu.au/~metr4202
http://itee.uq.edu.au/~metr7202

METR4202 and METR7202, Sem 2 2006

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 Timetable & Venues
Lectures
Hawken 50-N202
Wednesday 10-11:50am

Tutorials
T1, T2, T3 in Axon 210
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 3

Mon 1-2pm (T1), Thur 8-8:50am (T2), Mon 2-3pm (T3)

Practical Experiments
Axon Building (47-210), Control & Robotics Lab
Wed 12-1:50pm (P1), Thur 12-1:50pm (P2), Thur 2-3:50pm (P3)
Fri 1-2:50pm (P4) and Fri 3-4:50pm (P5)

Assessment
Mid-Semester Control Class Test: 30%
Wednesday September 6, 10-12am in Lecture Theatre
Inverted Pendulum Practical Experiment: 15%
Technical Report: 5%, due October 28 at 3pm
Group (2) demonstrations in Lab: 10%. Aug 30 and 31
Controller and Observer Design Tutorial in Matlab: 5%
Technical Report, due Monday August 28 at 3pm
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 4

RobotStudio Industrial Cell Assignment: 15%

Technical Report: 5%, due October 20 at 3pm.
Group (2) demonstrations in Lab: 10%. Oct 18 and 19.
Robot Jacobian Tutorial in Matlab: 5%.
Technical Report: 5%, due October 27 at 3pm.
Final Exam Robotics Only: 30%
Central Exam: Between November 6 and 18
 Assessment

Exam and Classtest will be Closed-Book

Everything else will be Open-Book

Technical Report Submissions

Email or Submission box outside lift, Axon Level 5
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 5

Late Submissions: the following Tuesday at 11am: 25% Penalty

After this time the report will not be assessed

Practical Demos: During designated prac times only

Demos in Axon 47-210
You can demonstrate one week earlier

Resources: Textbooks
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 6
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 8 METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 7

Teaching Plan: Robotics

Teaching Plan: Advanced Control
 Advanced Control: Lectures

Frequency Response Techniques

Bode Plot:. Allow easier model verification than
root-locus methods.
Introduction to State-Space Modelling
Controller Design in State-Space
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Observer Design in State-Space

The inverted pendulum prac requires both a
controller and observer designed and
implemented in state-space.
Digital Control Design

Control Part of Course

Control and Observer Design Tutorials in Matlab /

Simulink
Matlab/Simulink is the most powerful control design tool on
the market

Control of the Inverted Pendulum

METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 10

An accurate model together with the control theory

in this course will allow you to balance the inverted
pendulum
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 11 Inverted Pendulum Video

http://icampus.uq.edu.au/

Remote Laboratory Access

4 Pendula in Axon 210, 1 Remote Web Access
Lab access 24 hours a day, 7 hours a week
http://webcam.ilab.uq.edu.au
http://broker.ilab.uq.edu.au/ServiceBroker
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 12
 Robotics: Lectures

Two Main Topics

Kinematics
Why important? Allows the user to convert between Cartesian
X,Y,Z positions and robot motor angles. Without the Kinematics a
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 13

robot would be almost useless.

Jacobian
Why important? Allows the user to convert between Cartesian
X,Y,Z velocities and robot motor velocities. Also, the Jacobian
relates Cartesian forces and motor torques. The Jacobian is very
useful in trajectory planning and force control.

Introduction to Dynamics

Robotics Part of Course

Matlab-Based Tutorials, week 9-12

Robot Kinematics and Jacobian
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 14

RobotStudio Industrial Cell Design, weeks 8-12

Machining based on CAD/CAM Design
Human Face Mask
RobotStudio, SurfCAM, SolidEdge, IRBCAM
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 15 RobotStudio: http://www.robotstudio.com

Expected Outcomes

The students will be able to:

Perform model verification from frequency response measurements
Linearise and convert dynamics models to state-space
Design controllers and observers in state-space
Implement a controller and observer in Matlab/xPC/StateFlow
Control and balance the inverted pendulum
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 16

Design discrete controllers

Develop the kinematics for simple robots

Develop the Jacobian based on the kinematics
Design, program and simulate an industrial robot cell in RobotStudio
METR4202/7202 Advanced Control & Robotics, Semester 2, 2006. Page: 17 Questions?