INC491: Mechanics and Control of Modern Robotics
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Human size Ballbot developed by COSY since 2018. |
Announcements
Description
Introduction to Robotics and Mechanics; History and evolution of Robots, Specifications of Robots, Configurations of Robot. Robot Kinematics; Rotation Kinematics, Orientation Kinematics, Forward and Inverse Kinematics. Robot Dynamics; Force and Moment, Acceleration Kinematics, Lagrangian Dynamics. Robot Control ; Path Planning and Trajectory Control , PID Control, Force and Position Control
Course Syllabus
Course Objectives
Currently robots are extensively used in many industrial applications. Further the robotics has extended the horizons to bio medical, entertainment and elderly care applications in the recent past. Main objective of this course it to impart knowledge and experiences of robot design and analysis, to students. This course integrates the knowledge on control systems, kinematics and dynamics which students have studied in their undergraduate level to be applied for robot design, control and analysis.
Learning Outcomes
Select an appropriate robot for a given application based on the specifications.
Analyze a given robot design in terms of kinematics and dynamics.
Design and develop a robot to accomplish a specified task.
Apply the classical control theory for controlling and programming a robot.
Core text
K. M. Lynch, and F. C. Park, Modern Robotics: Mechanics, Planning, and Control, Cambridge U. Press, 2017
Text
R. N. Jazar, Theory of applied robotics: kinematics, dynamics, and control, 2nd, Springer , 2010
W.W. Spong, S. Hutchinson, and M. Vidyasagar, Robot dynamics and control, 2nd, John Wiley & Sons, 2008
B. Siciliano, O.Khatib, Springer Handbook of Robotics, Springer, 2008
P. Corke, Robotics, Vision and control: Fundamental Algorithms in MATLAB, 2nd, Springer, 2011
S. B. Niku, Introduction to Robotics: Analysis, Control, Applications, 2nd, John Wiley & Sons, 2011
A. J. Kurdila, and P. Ben-Tzvi, Dynamics and Control of Robotic Systems, Wiley, 2020
V. Toochinda, Industrial Robot Analysis and Control, Chulalongkorn University Press, 2559 (in Thai)
Announcements
Midterm Exam
Last Year Final Exam