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Departments of Electrical & Computer Engineering and Mechanical Engineering

National University of Singapore

Departments of Electrical & Computer Engineering and Mechanical Engineering

EE5106/MCH5209/ME 5402: Advanced Robotics Term 2, 2002/2003

Course Outline:



1. Position and Orientation Transformations and Robot Kinematics of Position

Homogeneous transformations; Rotation matrices; Three and four parameter representations for orientation; Mathematical Singularities; Robot kinematic modeling; Forward kinematics; Inverse kinematics problem: closed-form and numerical solutions; Concept of decoupling


^ 2. Rigid Body Motion , Robot Kinematics of Velocity, and Robot Statics

Translational and rotational velocities; Velocity transformations; Jacobian transformations; Derivatives of homegeneous transformation matrices; Forward kinematics; Inverse kinematics of velocity; Static force/torque transformations; Recursive equations of motion and static force/torque relationships


^ 3. Robot Trajectory Planning & Kinematic Robot Control

Point -to-point vs Continuous motion. Polynomials. Linear functions with parabolic blends. Via points. Cartesian paths. Kinematic control.


^ 4. Robot Dynamics

Euler-Lagrange equations; Lagrangian approach to robot dynamics;

Actuator dynamics; Properties of the robot dynamic model: inertial coefficients,

centrifugal and coriolis coefficients, and gravity terms.

Newton-Euler formulation of robot dynamics; Computational considerations.


^ 5. Robot Positional Control

Independent joint control: based on PD and PID compensators, based on

feedforward control; State-space modelling and analysis; Lyapunov stability

analysis; Multivariable PD control; Computed-Torque control;

Implementaion and robustness issues; Cartesian based control schemes;

Robust control methods; Adaptive control methods.


^ 6. Robot Compliance and Force Control

Compliance and stiffness; Force control in a single DOF system; Impedance

control; Hybrid force and position control; Stability issues and other

problems; Simultaneous force / position; control of constrained robots.


7. Lab

Industrial Robots Demonstrations.





Sciavicco L. and Siciliano B., Modeling and Control of Robot Manipulators. 2nd Edition Springer Verlag, 2000.

Craig, J.J., Introduction to Robotics, Mechanics and Control, 2nd Edition, Addison Wesley, MA. 1989.

Schilling, R.J., Fundamentals of Robotics Analysis and Control, Prenticel Hall, NJ, 1990.

Spong, M.W. and Vidyasagar, M., Robot Dyanmics and Control, John Wiley and Sons, NY, 1989.

Fu, K.S., Gonzalez, R.C., and Lee, C.S.G., Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987.

Paul, R.P., Robot Manipulators: Mathematics, Programming and Control, MIT Press, MA, 1981.

Klafter, R.D., Chmielewski, T.A., and Negin, M., Robotic Engineering, Prentice Hall, NY 1989.

Wolovich, W.A., Robotics: Basic Analysis and Design, Holt Rinehart and Winston, NY, 1987.

Shahinpoor, M., A Robot Engineering Textbook, Harper and Row, NY, 1987.

Andeen, G.B.,, Robot Design Handbook, McGraw Hill, NY 1988.

H. Asada and J-J.E. Slotine, Robot Analysis and Control, Wiley, 1986.

Other research publications (cited and/or distribited during appropriate lecture times)


· Quizzes (open book)

· Final examination (open book)

Class Website:


Dr Marcelo H Ang Jr (Topics 1 to 3)

Department of Mechanical and Production Engineering

Office: E1-07-14, Tel: 6874-2555, e-mail:

Dr. Sam Ge Shuzi (Topics 4 to 7)

Department of Electrical Engineering

Office: E4-05-31, Tel: 6874-6821, e-mail: elegesz@nus.edusg

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