Teaching

The course covers advanced topics in robotic and autonomous systems: (a) Medical robotic systems, (b) Assistive robotics, (c) Multi-body kinematics and dynamics formulation, (d) Mobile robotic systems analysis, (e) Stability and the method of Lyapunov, (f) Feedback control for manipulators, (g) Nonlinear model-based control, (h) Force control for robotic manipulators, (i) Passivity-based control, (j) Adaptive control and its application to robotic manipulation, (k) Control of mobile robotic systems, (l) Dynamic simulation of robotic systems, (m) Robot design.

The course is an introduction to robotics with emphasis on robotic manipulators. Applications, theoretical analysis, design, and control issues are considered. Topics covered: (a) History, types of robotic systems and applications, (b) Terminology, main parts, kinematic chains, end-effectors, (c) Coordinate transformations, rotation matrices, and homogeneous transformations, (d) Forward kinematics analysis, Denavit-Hartenberg procedure, inverse manipulator kinematics, (e) Velocity kinematics, Jacobian matrix, inverse velocity kinematics, singular configurations, (f) Dynamics modeling, the method of Newton-Euler and the method of Lagrange, equations of motion, (g) Feedback control schemes, trajectory planning, (h) Sensors and actuators, (i) Specifications of industrial robotic systems and safety measures.

The course is an introduction to feedback control systems and the classical control theory. Topics covered: (a) History of control and modern applications, (b) Use of dynamical system modeling (mathematical models, Laplace transform, transfer function, block diagrams, system response) in the design of control systems, (c) Feedback control setup and characteristics, (d) Time domain specifications, (e) System stability and the Routh-Hurwitz criterion, (f) Feedback properties and simple controllers including the PID controller, (g) Steady-state analysis, system type and error constants, (g) Root locus analysis and design, (h) Frequency response design and analysis using Bode plots and Nyquist plots, (i) Introduction to state-space design.

The course covers the fundamental principles of engineering dynamics and their application in the analysis of motion of particles and rigid bodies in two and three dimensions. Topics covered: (a) kinematics of particles, (b) kinetics of particles (Newton's Second Law, D’Alembert’s principle and dynamic equilibrium, methods of energy and momentum), (c) impact: direct central impact; oblique central impact, (d) kinematics of rigid bodies, (e) planar kinetics of rigid bodies (forces and acceleration, planar motion, energy and momentum methods), and (f) introduction to the dynamics of rigid bodies in three dimensions.

The course deals with the study of forces acting on physical bodies in static equilibrium. Topics covered include: (a) Statics of particles, (b) Equivalent systems of forces, (c) Equilibrium of rigid bodies, (d) Distributed forces, centroid and center of gravity, (e) Analysis of structures (trusses, frames, machines), (f) Forces in beams and cables, (g) Friction.