MOCOM: MOdeling and COntrol of Manipulator

Master Program

Erasmus Mundus EMARO+ / ARIA-ROBA

Semester:

S1 (Master, First year)

Status:

Compulsory

Duration:

30 hours + Labs (20 hours)

Lecturers:

Philippe MARTINET (Part 1: Geometry and kinematics of serial robots - 24 h)

Sébastien BRIOT (Part 2: Dynamics of serial robots - 6 h)

Head of the course:

Philippe MARTINET

Objectives of MOCOM

This course presents the fundamentals of the modelling and control techniques of serial manipulators. Topics include robot architectures, geometric modelling, kinematic modelling, dynamic modelling and its applications, classical PID controller and computed torque controller.

MOCOM Part 2: Dynamics of Serial Robots

Lecture Content:

Lecture 1: Introduction and recalls (2 hours)
- Introduction to the lecture
- Basics of dynamics principles
  - Lagrange formalism (with and without Lagrange multipliers)
  - Newton-Euler equations
  - Principle of Virtual Powers
- Computation of the link inertial parameters
- Computation of the kinetic and potential energies
- Exercises
Lecture 2: Dynamics of serial robots (4 hours)
- Lagrange formalism for open chains (serial and tree-structures)
  - Computation of the kinetic and potential energies
  - Computation of the robot inertia matrix
  - Computation of the Coriolis and centrifugal terms (Christoffels symbols)
  - Computation of the gravity vector
  - Contributions of the motor inertia and joint friction
  - Inverse and direct formulation
- Newton-Euler formalism
  - Forward recursive computation of velocities and accelerations
  - Backward recursive computation of wrenchs
  - Contributions of the motor inertia and joint friction
  - Computation of the robot inertia matrix and of the Coriolis and centrifugal terms
  - Inverse and direct formulation
- Exercises