ECE 6310 - Engineering Robotics

UH Catalog Data: Robotics: Models, Controls, and Sensors Cr.3 (3-0)

Prerequisite: ECE 4375 or equivalent. The kinematics and dynamic modeling
of robots as well as the development of algorithms for feedback control.
Methods for force-torque sensing and robot vision will be presented.

Instructor's Modification: Sensing and vision will be replaced by trajectory
planning, flexible-joint robotic arms modeling and control, and some special
topics (adaptive control, flexible-link robots, mobile robots, etc.).

Textbook (required):
G.Chen: Engineering Robotics: Kinematics, Dynamics and Control (Class Notes)

Main References (Recommended):

M.W.Spong and M.Vidyasagar:
Robot Dynamics and Control, Wiley, 1989.

R.M.Murray, Z.Li, and S.S.Sastry:
A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.

General Description:

This is an introductory graduate course in Robotics Engineering. It provides
basic knowledge of modern robotics theory and techniques, with emphasis
on fundamental mathematical and mechanical principles. Modeling, analysis,
and control of robotic manipulators will be introduced. Kinematics, dynamics,
and control of robotic manipulators will be studied in detail, and some special
topics in robotic sciences will be discussed briefly.


1. Kinematics of Robotic Manipulators
1.1. Rotations, Translations, Homogeneous Transformations
1.2. Forward Kinematics, D-H Convention
1.3. Inverse Kinematics
1.4  Singularity and Computational Issues

2. Dynamics of Robotic Manipulators
2.1. Euler-Lagrange Equations
2.2. Dynamic Modeling, Kinetic Energy, Potential Energy
2.3. Jacobian Matrices for Kinetic Energy Computation
2.3. Motion Equations
2.3. Newton-Euler Recursive Formulation
2.4. Closed-Link Systems

3. Motion Control of Robotic Manipulators
3.1. Independent-joint Robot-arm Control
3.2. Multi-joint Robot-arm Control
3.3. PD and PID Controllers Design for Robot Control
3.4. Flexible-Joint Robot Arms: Modeling and Control
3.5. Advanced Control Methods for Robotics
3.6. Optimal Trajectory Planning

4. Special Topics

Computer and Laboratory Project: One per semester