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Modelling and Control of Robots

Tuesday, 8 August 2023

The aim of today’s lecture is to make you familiar with basic modelling and control of robot manipulators. We consider collaborative robots that can be kinaesthetically guided by humans, and present control approaches that enable this feature. Kinaesthetic guidance makes it possible to program robots by demonstration rather than programming robots with traditional programming; this concept is also shortly introduced.

Preparation for Lecture

Please read Chapters 7, 8, and 9 in the book “Robotics: Modelling, Planning and Control”, and read the document.

Lecturers & Schedule

Iñigo Iturrate (II)

Xuping Zhang (XZ)

8:15 – 10:00 Robot Dynamics (XZ)

Introduction to modelling of robots with the use of the Euler-Lagrange method, and recap of second order dynamical systems.

10:00 – 11:00 Exercise 1: Simulation of Robot Manipulator (II)

Set up simulation model of robot manipulator in MATLAB/Simulink based on provided template.

11:00 – 12:00 Motion Control of Robot Manipulators (II)

Introduction to basic motion control in Cartesian space of robot manipulators based on a feedback linearized robot.

12:00 – 12:30 – Lunch break 

12:30 – 14:00 Admittance Control (II)

Introduction to admittance and impedance control, and their use in different contexts.

14:00 – 15:00 Exercise 2: Admittance Control (II)

Extend the simulation model from the previous exercise session with an admittance controller.

15:00 – 16:00 Kinaesthetic Teaching (II)

Introduction to concept of programming by demonstration and its application to fast programming of collaborative robots.