Robotics notes are
available from the EECE487 course page here.
Lecture notes, homeworks, and reference list can be accessed here.
Homework: Handed out as formal homewors or as problems
assigned in class.
Grading: Homework 20%, project work 50%, individual paper/topic study (including a presentation and report) 30%.
Project Work: Will be finalized in the second week of
classes, and will include work on a /teleoperation system. Past
projects include: a
motion
planner for a CRS robot, the design and control of a scaling
force-reflecting
teleoperation system, the design of a sytem for haptic interaction with
rigid
objects in the plane, the design and of an ultraosund imaging robot,
the control of a ultrasound imaging robot.
Textbook: None. Class notes and papers.
Lecture plan (tentative):
[Week 1] Course details, references, lecture plan. Overview of
teleoperation and haptic interfaces. Course project discussion.
[Week 2] Rapid prototyping.
[Week 3] Teleoperation system
specifications. Teleoperation
architectures. Transparency. Admittance vs impedance models.
Examples of transparency vs robustness tradeoffs. Course
projects.
You may access http://www.ece.ubc.ca/~elec487/
for access to robotics course notes.
[Week 4] Review of kinematics. Points, vectors, change of
coordinates, exponential form of rotation, angular velocity, addition
of angular velocities. Direct kinematics. Inverse kinematics. Jacobians
and singularities.
[Week 5] Review of dynamics. Newton-Euler approach to serial
manipulator dynamics. Euler-Lagrange approach to manipulator dynamics.
Control-relevant properties of equations of motion for serial
manipulators. Linearity in
parameters.
[Week 6] Overview of manipulator control methods. Exact
cancellation methods: computed-torque control and resolved acceleration
position control. PD+gravity control. Stiffness control. Feedforward
control. Effect of gear-ratio. Stability in the sense of Lyapunov.
Lasalle's theorem.
[Week 7] Stability proofs for PD+gravity and stiffness control.
Exponential convergence proofs via Lyapunov functions. The algorithm of
Slotine and Li. Energy interpretation and the use of the
passivity
theorem.
[Week 8] Force control. Impedance control. Robustness issues.
Passivity based stability criteria. Necessary and sufficient conditions
for stability against passive human and environment impedances.
Llewelyn's criterion.
[Week 9] Specifications in terms of structured singular values,
parametrization of controllers and design via loop shaping.
Passivity-based
teleoperation controller designs.
[Week 10] Teleoperation with adaptive motion/force
control. Design for time-delayed teleoperation. Wave
variable controllers.
[Week 11] Haptic interface control. Rendering of stiff walls
and
friction. Event-based haptics.
[Week 12] Haptic rendering techniques. Kinematic and dynamic
proxies. Rendering of deformation via condensation.
[Week 13] Student project presentations.