16-711

Kinematics, Dynamic Systems, and Control

Spring term, 2000

Instructors: Matt Mason and Al Rizzi

Where: NSH 3002
When: TR 3:00 - 4:20

Basic concepts and tools for the analysis, design, and control of robotic mechanisms. Topics covered include foundations of kinematics, kinematics of robotic mechanisms, review of basic systems theory, control of dynamical systems. Advanced topics will may include motion planning and collision avoidance, adaptive control, and hybrid control.

PS7 (pdf) (ps)

Corrected version of PS5
Updated Version of PS5 (pdf) (ps)

16-711 is a core course in the Action area for the Robotics PhD.

Prerequisites: graduate standing or permission of the instructor.

The course is expected to be a challenging course for grad students. A well-prepared student would have a strong background in mathematics and engineering, including multivariate calculus, differential equations, linear algebra, controls or linear systems, and classical mechanics.

Some of the incoming graduate students will not be "well-prepared" as defined above. They will be expected to put in substantial additional time and effort to address these gaps. We will suggest supplementary readings and problems for those who need them.

Matt Mason
- Office: NSH 3119
- Phone: 8-8804
- Email: matt.mason@cs.cmu.edu
Al Rizzi
- Office: EDSH 111
- Phone: 8-8006
- Email: arizzi+@ri.cmu.edu
Administrative Assistant: Jean Harpley
- Office: NSH 3111
- Phone: 8-3802
- Email: jean.harpley@cs.cmu.edu
Required text: Lorenzo Sciavicco and Bruno Siciliano, Modelling and Control of Robot Manipulators, Second Edition. Springer. 2000. (The text is not available until February. The publisher has given us permission to distribute chapters as necessary until then.)
Web page at http://www.cs.cmu.edu/afs/cs/academic/class/16711-s00/web/
Each assignment covers two weeks worth of material, except for the last which covers one week of material plus a comprehensive question or two.
Assignments are due at the beginning of lecture on the indicated date.
Assignments will be graded by the students. There are eight assignments, so we will form the students into eight teams. Each team will be responsible for writing the solution and grading the papers.
Grades will be determined by a straight average of the assignments.
Relation to 15-384. Students who have taken 15-384 are exempt from certain problems that they would have addressed in 15-384. Each assignment will identify the problems exempted.

Grading teams

PS1: Balkcom, Dias, Emery, Sukthankar, Verma
PS2: Kisasonak, Kozuki, Mayor, Niederberger, Unger
PS3: Felber, Kumar, Nagy, Romesberg, Schmid
PS4: Atkar, Brown, Lee, Park, Shammas
PS5: Bedillion, Laskin, Messinger, Psaras, Skaff
PS6: Bagnell, Kara, Kurtoglu, Meier, Savvides, Wellington
PS7: Boettcher, Cao, Chang, Cicirello, Osterfeld, Rumpf
PS8: Alfaro, Ang, Hull, Lin, Srinivasa

Some of the handouts

PS1 (pdf)
Figures from PS4:

Syllabus

pdf file

Schedule

1
T Jan 18 Intro
Kinematic Foundations
PS1

2
R Jan 20 Differential Geometry

3
T Jan 25 Rotations I

4
R Jan 27 Rotations II

5
T Feb 1 Displacements
PS2

6
R Feb 3 Forward Kinematics I   PS1 due

7
T Feb 8 Forward Kinematics II

8
R Feb 10 Reverse Kinematics I

9
T Feb 15 Reverse Kinematics II
PS3

10
R Feb 17 Differential Kinematics I   PS2 due

11
T Feb 22 Differential Kinematics II

12
R Feb 24 Statics

13
T Feb 29 Trajectory planning
PS4

14
R Mar 2 Planning   PS3 due

15
T Mar 7 Differential Equations

16
R Mar 9 Linear Control by Example

17
T Mar 14 Transform Theory I
PS5

18
R Mar 16 Transform Theory II   PS4 due

19
T Mar 21 Linear Systems I

20
R Mar 23 Linear Systems II -- controllability

21
T Apr 4 Linear Systems III -- observability
PS6

22
R Apr 6 Linear Systems IV -- realization   PS5 due

23
T Apr 11 Linear Systems -- Pole Placement

24
R Apr 13 Linear Systems -- Pole Placement

25
T Apr 18 Dynamics of Mechanisms I
PS7

26
R Apr 20 Dynamics of Mechanisms II   PS6 due

27
T Apr 25 Control of Mechanisms I

28
R Apr 27 Control of Mechanisms II

29
T May 2 Control of Mechanisms III -- Workspace Control
PS8

30
R May 4 (slack)   PS7 due

T May 9 PS8 due

1	T Jan 18	Intro Kinematic Foundations	PS1
2	R Jan 20	Differential Geometry
3	T Jan 25	Rotations I
4	R Jan 27	Rotations II
5	T Feb 1	Displacements	PS2
6	R Feb 3	Forward Kinematics I		PS1 due
7	T Feb 8	Forward Kinematics II
8	R Feb 10	Reverse Kinematics I
9	T Feb 15	Reverse Kinematics II	PS3
10	R Feb 17	Differential Kinematics I		PS2 due
11	T Feb 22	Differential Kinematics II
12	R Feb 24	Statics
13	T Feb 29	Trajectory planning	PS4
14	R Mar 2	Planning		PS3 due
15	T Mar 7	Differential Equations
16	R Mar 9	Linear Control by Example
17	T Mar 14	Transform Theory I	PS5
18	R Mar 16	Transform Theory II		PS4 due
19	T Mar 21	Linear Systems I
20	R Mar 23	Linear Systems II -- controllability
21	T Apr 4	Linear Systems III -- observability	PS6
22	R Apr 6	Linear Systems IV -- realization		PS5 due
23	T Apr 11	Linear Systems -- Pole Placement
24	R Apr 13	Linear Systems -- Pole Placement
25	T Apr 18	Dynamics of Mechanisms I	PS7
26	R Apr 20	Dynamics of Mechanisms II		PS6 due
27	T Apr 25	Control of Mechanisms I
28	R Apr 27	Control of Mechanisms II
29	T May 2	Control of Mechanisms III -- Workspace Control	PS8
30	R May 4	(slack)	PS8	PS7 due
	T May 9			PS8 due