Introduction to the Analysis and Control of Advanced Robotic Systems
Course Objectives:
To expose graduate students to the fundamental issues related to the research and applications of advanced robotic systems. The course starts with the analysis and control of robot manipulators then demonstrates how similar methods can be applied to mobile robots (wheels, legs, arms, hands). Students will learn the mathematic tools for modeling, analysis, and control of advanced robotic systems. At the conclusion of the course students will have a working knowledge of advanced robotic systems: kinematics, dynamics, motion planning, trajectory generation, sensing, and controller design. Overall, the course should be fun!!
Course Schedule:
|
Lecture # |
Date |
Topic |
|
Lecture 1 |
Friday, June 4, 2010 10am – 12pm |
Introduction: What are robots? What are their basic components? What are they used for? What is robot fact or fiction? What is advanced robotics? What is the “state-of-the-art?” |
|
Lecture 2 |
Monday, June 7, 2010 10am – 12pm |
Kinematics I: Robot manipulators, What is kinematics, Dot & Cross products, Linear transformation matrix, Rotational matrix, Homogeneous transformation, Coordinate transformation, Orientation representations (Euler, Roll-Pitch-Yaw), Worked Examples. |
|
Lecture 3 |
Wednesday, June 9,2010 10am – 12pm |
Kinematics II: Review, What is a kinematic model, Robot links and joints, Denavit-Hartenberg convention, Link coordinate frames, Link and joint parameters, Forward kinematic equation, ATAN 2 algorithm, Roll-Pitch-Yaw representation, Inverse kinematics, Worked examples. |
|
Lecture 4 |
Friday, June 11, 2010 10am – 12pm |
Dynamics: Jacobian matrix, Trajectory planning, Manipulator dynamics, Link velocity, Kinetic Energy of a link, Manipulator dynamics, Lagrangian equation, Dynamic model, Worked Examples. |
|
Lecture 5 |
Monday, June 14, 2010 10am – 12pm |
Control: Review, Robot manipulator control, Control theory, Systen response and evaluation, Performance, PID control, Motion control, Worked Examples. |
|
Lecture 6 |
Wednesday, June 16, 2010 10am – 12pm |
Wheeled Mobile Robots: Wheeled mobile robots, Notation, Wheels: steered; omnidirectional; rolling offset, Maneuverability, Non-holonomic constraint, Differential drive, Motion control, Synchronous drive, Ackerman steering, Kinematic and dynamic models of mobile robots. |
Edward
Grant, PhD
Professor, ECE Department, NCSU
Professor, Joint BME Department, UNC-CH and NCSU
Director, Center for Robotics and Intelligent Machines
Ph: +1 (919) 515-7016
Email: egrant@ncsu.edu
URL: http://www.crim.ncsu.edu/people/director/dr-eddie-grant
Edward Grant’s biography:
Dr. Edward Grant is the Director of the Center for Robotics and Intelligent Machines (CRIM) at North Carolina State University. He is a Professor of Electrical and Computer Engineering, NC State, a Professor in the Joint Department of Biomedical Engineering, UNC Chapel Hill and NC State, and a Visiting Professor in the Innovative Manufacturing and Construction Research Centre (IMCRC), Loughborough University, UK.
Dr. Grant earned a Bachelor of Science (Hons) Degree in Mechanical Engineering from Dundee College of Technology (now University of Abertay Dundee) in 1969; a Master of Engineering Degree in Mechanical Engineering (Fluid Power Control) from the University of Sheffield in 1972; and a Doctor of Philosophy Degree in Computer Science from the University of Strathclyde, 2000.
In the UK, Dr. Grant is registered as a Chartered Engineer (CEng) and he is a Fellow of the Institution of Mechanical Engineers (FIMechE). In the USA, Dr. Grant is a Senior Member of the Institute of Electrical and Electronics Engineers (SMIEEE). From 1992-1994 Dr. Grant served as a committee member of the IMechE Control Technical Activities Committee of the Machine Systems Control and Computing Group, and from 1994-1996 he served on the Computing and Data Communications Committee for the same institution.
From 1989 - 1995 Dr. Grant served as Vice-Chairman of the IEEE Control Systems Society's Technical Committee on Intelligent Control. In 1992 Dr. Grant was General Chairman of the International Symposium on Intelligent Control. From 1993-1997 Dr. Grant was the Founding Chairman of the IEEE Robotics and Automation Society’s United Kingdom and Republic of Ireland Chapter, from 1997-1999 he was Chairman. From 1993-1997 Dr. Grant served on the IEEE Robotics and Automation Society’s Long-Range Planning Committee and on the International Committee. In 2007 Dr. Grant served as GeneralChair of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07). In 2010 Dr. Grant will be Program Chair for the IEEE International Conference on Multi-sensor Fusion and Integration (MFI 2010). Dr. Grant is an Associate Editor of the International Journal of Robotics and Autonomous Systems.
Dr. Grant's researches into evolutionary control applied to autonomous mobile robot colonies, wireless sensor networks for controlling robot swarms; for smart buildings; and for wearable computing, qualitative modeling for predictive maintenance, automated cell micro-actuation and micro-injection, biorobotics for laser phonomicrosurgery, sensory integration and modeling of human movement for rehabilitation, and medical devices for sensing and controlling venous blood flow in legs