ME7752 - Mechanics and Control of Robots
Introductory graduate course on the basic
principles underlying robots, especially 'serial robots'. We
focus on kinematics, dynamics and control of such robots, with
an emphasis on computer implementations of the various ideas.
These notes are (partial) hand-written transcripts of my
blackboard lectures. These MATLAB codes are (sometimes) better
commented versions of my live coding demos in classroom. Some
additional lectures have not been fully transcribed and may be
posted later. The 3D kinematics part of the course is drawn
from the robotics text by John Craig.
Introduction to robotics. PDF.
Planar robots: forward kinematics, inverse kinematics,
reachable workspace, and joint ranges of motion. PDF.
Representing 3D rigid body transforms. Translations and
rotations: Rotation matrices, homogeneous transforms,
Euler angles, degrees of freedom, etc. PDF.
Kinematics of 3D serial robots: Denavit-Hartenberg
representation, forward kinematics and inverse kinematics.
Differential kinematics & Robot statics: Velocities
& accelerations, manipulator Jacobians & kinematic
Dynamics in 2D: Writing equations of motion &
Control of robots: Basic feedback & feedback
control, PID, feedback linearization, and other ad hoc
control. Stability of equilibria. PDF (partial).
HW2, HW3, HW4, HW5, HW6.
MATLAB codes from lecture
Planar kinematics: Simple animation,
kinematics & tracking.
transformations: Rotation and translation of frames,
rotating an object, etc.
Forward kinematics: Denavit-Hartenberg
for 3R robot from lecture.
Dynamics in 2D: Deriving
equations of motion + simulation & animation.
Control: Position regulation.
Platform: forward kinematics, inverse kinematics, and