ME 8204 Syllabus

Basic concept in kinematics: Ch. 2, sec. 2.1 – 2.4

• Reference frames and rigid body representation
• Matrix representation of rotational and translational transformations

Forward kinematics of robotic arms Ch. 3, sec. 3.1 – 3.3 & Ch. 2, sec. 2.5 – 2.7

• Denavit – Hartenberg Representation of rotation and translation
• Position problem
• Velocity and acceleration problems

Inverse kinematics of robotic arms Ch. 4, sec. 4.1 – 4.4

• Inverse Position Problem
• Geometric Solution

Inverse velocities and accelerations Ch. 5, sec. 5.1 – 5.4

• Jacobian matrix
• Singularity conditions
• Inverse velocity and acceleration problem formulation

Dynamics of robotic arms Ch. 6, sec. 6.1 – 6.4

• Dynamic properties (mass & inertia)
• Principle of virtual work
• Lagrangian equations of motion

Joint motion control Ch. 7, sec. 7.1 – 7.5

• PD Control
• Actuator Dynamics and set-point tracking
• Drive train dynamics
• Trajectory planning

Multivariable control Ch. 8, sec. 8.1 – 8.2, 8.4 – 8.5 & Appendix C

• Lyapunov function and stability
• PD Control
• Robustness issues and robust control design

Feedback Linearization Ch. 10, sec. 10.1 – 10.4

• Frobenius Theorem
• Single link and multi-link problems

Sliding (or variable structure) control Ch. 11, sec. 11.1 – 11.2

• Sliding surfaces and control
• Controller development for multi-link robot arms