Course Meeting Times
Lectures: 2 sessions / week, 1.5 hours / session
Labs: 1 session / week, 2 hours / session
Prerequisites
This course is a restricted elective (professional subject).
Course Text
Asada, H., and J. J. Slotine. Robot Analysis and Control. New York, NY: Wiley, 1986. ISBN: 9780471830290.
This book will be supplemented by newly written lecture notes, which are a preliminary version of the book’s second edition. While the book was originally written for graduate-level courses, the new lecture notes are primarily for undergraduate juniors and seniors, assuming 2.003 and 2.004 level background knowledge about dynamics and control.
Labs and Projects
Lab sessions are geared toward completion of two projects - a de-mining robot and a robot that finds and rescues disaster victims.
Grading Policy
| ACTIVITIES | PERCENTAGES |
|---|---|
| Mid-term Exam | 30% |
| End-of-term Exam | 30% |
| Homework | 20% |
| Laboratory and Design Project | 20% |
Calendar
The calendar below provides information on the course’s lecture (L) and lab (Lab) sessions.
| SES # | TOPICS | KEY DATES |
|---|---|---|
| L1 | Introduction | |
| L2 | Actuators and Drives | |
| L3 | Control Components | Problem set 1 out |
| Lab 1 | De-mining Robot: Embedded Robot Controller, I/O Interface, and PWM Amplifiers | |
| L4 | Control Software - 1 | Problem set 1 due |
| Lab 2 | De-mining Robot: Controller Software and Sensor Inputs | |
| L5 | Control Software - 2 | Problem set 2 out |
| L6 | Sensors - 1 | |
| Lab 3 | De-mining Robot: Implement Basic Sensor-based Controls; Plan Strategy for De-mining Task | |
| L7 | Kinematics - 1 | Problem set 3 out |
| L8 | Kinematics - 2 | Problem set 2 due |
| Lab 4 | De-mining Robot: Refine De-mining Operations | |
| L9 | Differential Motion - 1 |
Problem set 3 due
Problem set 4 out |
| Lab 5 | Rescue Robot: Stage A - Concept Design | |
| L10 | Differential Motion - 2 | |
| L11 | Statics, Energy Method |
Problem set 4 due
Problem set 5 out |
| Lab 6 | Rescue Robot: Stage B - Prototype Implementation | |
| L12 | Hybrid Position-force Control | |
| L13 | Compliance, End-effecter Design | Problem set 5 due |
| Lab 7 | Rescue Robot: Stage B - Prototype Implementation (cont.) | |
| L14 | Non-holonomic Systems | Problem set 6 out |
| L15 | Mid-term Exam | |
| Lab 8 | Rescue Robot: Stage C - System Integration | |
| L16 | Legged Robots, Multi-fingered Hands | |
| L17 | Dynamics - 1 |
Problem set 6 due
Problem set 7 out |
| L18 | Dynamics - 2 | |
| L19 | Computed Torque Control | Problem set 7 due |
| Lab 9 | Rescue Robot: Stage C - System Integration (cont.) | |
| L20 | Sensors - 2 | Problem set 8 out |
| L21 | Computer Vision | |
| L22 | Navigation - 1 | |
| L23 | Navigation - 2 | Problem set 8 due |
| Lab 10 | Rescue Robot: Stage D - Testing | |
| L24 | Tele-robotics and Virtual Reality | |
| L25 | End-of-term Exam | |
| L26 | Check Out of Final Projects | |
| L27 | Project Demonstration |
