Lecture 1 - Introduction and Background University of Notre Dame ELECTR 555

Robotic Manipulator II: Control
ENGR 7401 - Introduction and Background
(Lecture 1)
Prof. Walter Lucia
Course Program
Introduction
•Industrial robotics. Robots,
applications, trends. Background
Material
Robot kinematics
•Review of direct, inverse and
differential kinematics. Kinematics of
redundant manipulators. Inverse
differential kinematics.
Robot dynamics
•Review of Dynamic models of robot
manipulators. Euler Lagrange and
Newton Euler formulations. Main
properties. Direct and inverse
dynamics.
Motion planning
•Path planning and trajectory
planning. Joint space trajectories:
point to point motion and
interpolation of points (splines).
Cartesian space trajectories: position
and orientation trajectories.
Control of robot
manipulators
•Review of independent joint control
methods. Advanced schemes for joint
control. Computed torque
feedforward control. PD control with
gravity compensation. Inverse
dynamics control.
Interaction with the
environment
•Compliance control, impedance
control, hybrid position/force
control. Control with vision sensors.
Components of a visual system.
Image processing. Image based an