Course Title and Code
Robot Dynamics, Control and Motion Planning (EE5608)
Course Credit
3-0-0-3 (Lecture-Tutorial-Practical-Credit)
Course Category
Elective
Target Programme
MTech, MS/PhD, BTech
Target Discipline
EE, ME
Prerequisite
Elementary knowledge of linear systems, differential equations and linear control systems
Learning Outcomes
In the course, students build elementary knowledge on modeling and linear control design of base robot, mobile robot, and aerial robot. The course includes a Matlab/Python component, which includes doing simulations for a robotic system and designing a program for trajectory planning and feedback control.
Course Content
| Sr. No. | Topics | Lectures |
|---|---|---|
| 1 | Introduction to rigid body as robots; kinematics, position and orientation, reference frame in relative motion; brief intro to identification of rotation as SO(3), S1, S2 and rigid body in R3 as SE(3). Rigid body dynamics; Examples: autonomous aerial vehicle dynamics such as drone/aerial manipulator/satellite (rigid body) with actuation in R3, mobile robot dynamics. | 12 |
| 2 | State Space Modeling and Multivariable Systems; Introduction to Linear Control, PID, feedforward control, solving examples. | 8 |
| 3 | Nonlinear Control: feedback linearization and feedback control; Stability Analysis, Tracking Control, output measurement, sensors (encoder, IMU) and interfacing sensors with microcontrollers; Example: satellite/drone/mobile robot. | 10 |
| 4 | Trajectory Generation: States as piecewise polynomial functions; feasibility and motion constraints; time-optimality, collision avoidance; SLAM algorithm on motion planning. | 12 |
*Some contents of the course have unavoidable overlap with ‘Mechanics and control of robotic manipulators’ and ‘Wheeled mobile robots’ courses. While the basic robot mechanics is expected to have overlap, this course focuses on state space modeling, linear and nonlinear control methods, and motion planning for such robots.
Textbooks
- 'Robot Dynamics and Control' by M. Vidyasagar and Mark W. Spong, John Wiley & Sons, 2008, ISBN: 8126517808, 9788126517800.
- 'A Mathematical Introduction to Robotic Manipulation' by Sastry, S. Shankar., Li, Zexiang, Murray, Richard M. CRC Press, 1994.
- 'Modern Robotics: Mechanics, Planning, and Control' by Lynch, Kevin M., Park, Frank C. Cambridge University Press, 2017, ISBN: 9781107156302, 1107156300.
Reference Books
- 'Nonlinear Systems' by Hassan Khalil, Prentice Hall, 2002, ISBN: 0130673897, 9780130673893.
- 'On-Line Trajectory Generation in Robotic Systems: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events' by Torsten Kröger, Springer Science & Business Media, 2010, ISBN: 364205174X, 9783642051746.
- 'Robot Analysis and Control' by Slotine, Jean-Jacques., Asada, H., Wiley, 1986, ISBN: 9780471830290, 0471830291.
- Various research articles on trajectory generation for quadrotors and aerial manipulation.