Instructor

Jacob Rosen
Office: Engineering 2 Building, Room 231
Voice Office: 831.459.5302
e-mail: rosen@ucsc.edu

Classes

EE 154 / CE 241

Introduction to Feedback Control Systems

Course Summary: Undergraduate-level (EE154) & graduate-level (CE 241) introduction to control of continuous linear systems using classical feedback techniques. Design of feedback controllers for command-following error, disturbance rejection, stability, and dynamic response specifications. Root locus and frequency response design techniques (Bode). Nyquist stability criterion. Design of dynamic compensators. Examples are drawn from electrical, mechanical, applications. Computer aided design with MATLAB.


Prerequisite:
EE103 - Signals and Systems
AMS27 - Mathematical Methods for Engineers
Equivalent (Basic Circuit Analysis, Basic Dynamics, Differential Equations, Complex Numbers)

Assignments & Grading:

EE 154 (Undergraduate)
Homework 20%
Mid Term 30%
Final Exam 50%

CE 241 (Graduate)
Homework 20%
Mid Term 20%
Final Exam 40%
Final Project 20%

Textbook: Feedback Control of Dynamic Systems (5th Edition), Gene Franklin, J.D. Powell, Abbas Emami-Naeini, Prentice Hall; 5 edition (October 31, 2005), ISBN: 0131499300

Class Notes

Class 00: Course Information
Class 01: Introduction to Feedback Control
Class 02: System Modeling
Class 03: Dynamic Models - ODE
Class 04: Laplace Transform
Class 05: Block Diagram Algebra
Class 06: Design Specs. & Stability
Class 07: System Type & PID
Class 08: Root Locus - Rules (1/3)
Class 09: Root Locus - Examples (2/3)
Class 10: Root Locus - Design (3/3)
Class 11: Bode
Class 12: Gain / Phase Margins
Class 13: Nyquist
Class 14: Bode Design

Supplement References

Class 03: ODE 1; ODE 2
Class 04: Laplace Transform
Class 05: Block Diagram Algebra
Class 11: Linear-Log (4X0, 3X0); Log-Log (4X4, 3X4)

Homework

Chapter 1 and Chapter 2 - Problems
Chapter 3 - Problems
Chapter 4 - Problems
Chapter 5 - Problems
Chapter 6 - Problems

HW #1 (Solution): Basic Feedback Systems
HW #2 (Solution): Systems & Dynamics Modeling
HW #3 (Solution): Laplace & Block Diagrams
HW #4 (Solution): Time Specs. & Stability
HW #5 (Solution): Root Locus
HW #6 (Solution): Root Locus Design
HW #7 (Solution): Bode
HW #8 (Solution): Gain / Phase Margins - Nyquist
HW #9 (Solution): Review

Exams

Final scheduled for XX-Mar-09 from XX:00 - XX:00 AM

Intake Quiz - to check your prerequisites.
Midterm (Solution)
Final (Solution)

Models of Robotic Manipulation

Course Summary: Mathematical models of arbitrary articulated robotic as well as biological arms and their application to realistic arms and tasks, including the homogeneous coordinate model of positioning tasks, the forward and inverse kinematics models, the Jacobian Matrix,and the recursive Newton-Euler dynamic model.

Prerequisite: linear algebra and graduate standing or permission of instructor

Assignments & Grading:
Problem Sets 25%
Mid Term (Take Home) 25%
Final Exam (Take Home) 50%

Textbook: John Craig, Introduction to Robotics: Mechanism & Control, 3ed Edition, Addison Wesley 2003

Class Notes

Class 01: Class 01A: Introduction & Basic Ideas
Class 02: Class 02A: Special Description & Transformation
Class 03: Class 03A: Direct Manipulator Kinematics (1/3)
Class 04: Class 04A: Direct Manipulator Kinematics (2/3)
Class 05: Class 05A: Direct Manipulator Kinematics (3/3)
Class 06: Class 06A: Inverse Manipulator Kinematics (1/4)
Class 07: Class 07A: Inverse Manipulator Kinematics (2/4)
Class 08: Class 08A: Inverse Manipulator Kinematics (3/4)
Class 09: Class 09A: Inverse Manipulator Kinematics (4/4)
Class 10: Class 10A: Jacobian: Velocities and Forces (1/4)
Class 11: Class 11A: Linear and Angular Velocities (2/4)
Class 12: Class 12A: Velocity propagation (3/4)
Class 13: Class 13A: Jacobian: Velocity propagation (4/4)
Class 14: Class 14A: Manipulator Mechanical Design
Class 15: Class 15A: Manipulator Dynamics (1/3)
Class 16: Class 16A: Manipulator Dynamics (2/3)
Class 17: Class 17A: Manipulator Dynamics (3/3)
Class 18: Class 18A: Trajectory Generation

Autolev

Class Notes: Introduction to Autolev

Class Video (1/2) - Introduction - Example (3R)
Class Video (2/2) - Example - Industrial Robot (6R)

Autolev Code (Zip)

Supplement References

Journals
IEEE Transactions on Robotics
IEEE Transactions on Automation
IEEE / ASME Transactions on Mechatronics
The International Journal of Robotics Research
Journal of Field Robotics
Journal of Intelligent and Robotic Systems
Robotica
Robotics and Autonomous Systems


Con frances
ICRA
IROS
Biorob

Industrial Robotic Arms - Companies
Expo 21XX - Generic List
Denso Robotics (*,+)
KUKA (*,+)
Motoman (+)
Staubli (*,+)
FANUC (+)
Adept (*,+)
ABB (*,+)
Mitsubishi (+)
Kawasaki (+)
Epson (*,+)

Notes
(*) CAD files are available on-line
(+) Data sheet / Spects / Schematic drawings are available on-line

Matlab
Robotics Toolbox (Release 8 Dec. 2008)

Homework

Problem Sets
HW #1 (Solution): Transformation Matrix
HW #2 (Solution): Direct Manipulator Kinematics
HW #3 (Solution): Inverse Manipulator Kinematics
HW #4 (Solution): Jacobian
HW #5 (Solution): Manipulator Dynamics