Prof. J. Baillieul
Manufacturing Engineering
Aero/Mech Engineering
BOSTON UNIVERSITY

ENG AN740 Course Outline: (Spring 2006)

(1/11/06)

1. Foundations of intelligent mechatronics
2. Geometry and robot coordinate systems
3. Euclidean group theory and kinematic equations
4. Differential relationships
5. Specifying robot motions
6. Analytical dynamics of mechanical systems
7. Control: basic issues
8. Control: sampled data systems
9. Control: advanced topics
10. The control theory of micro-mechanical systems
11. Advanced topics: kinematic redundancy
12. Advanced topics: Super-articulated mechanical systems
13. Advanced topics: Information based control
14. Advanced topics: Networked control systems

Communication regarding this course will frequently involve this Web page.

See 2001 term project presentations.

Course handouts (click to retrieve):

1. Course syllabus outline
2. Course project description *.pdf file..

Course readings:

All books are availabe from amazon.com.

Text:

Richard M. Murray, Zexiang Li, S. Shankar Sastry, A Mathematical Introduction to ROBOTIC MANIPULATION, CRC Press, Boca Raton, 1994.

Other books:

Brockett,R.W., ed., Robotics, Proceedings of Symposia in Applied Mathematics, Vol. 41, American Math. Soc., Providence, 1990.

John J. Craig, Introduction to Robotics, Mechanics and Control, 2nd Ed., Addison Wesley, 1989.

Carlos Canudas de Wit, Bruno Siciliano, and Georges Bastin, Theory of Robot Control, Springer (Communications and Control Engineering Series), New York, 1996.

B. Siciliano and K.P. Valavanis, (Eds.), Control Problems in Robotics and Automation Springer (Lecture Notes in Control and Information Sciences 230), New York, 1997.

J. Baillieul, Shankar Sastry, and Hector J. Sussmann (Editors), Essays on Mathematical Robotics, (Ima Volumes in Mathematics and Its Applications, V. 104.), Springer Verlag; ISBN: 0387985964, 1998.

J. Baillieul & J.C. Willems (Editors), Mathematical Control Theory, Hardcover - 385 pages, Springer Verlag; ISBN: 0387983171, 1998.


All books are availabe from amazon.com.

Grades will be given for homework assignments (one every week or so), exam (midterm on some date when I need to be traveling), and most importanly, for a term project which will be assigned during the first few weeks of the class.

Mini Projects Page .

Last Revised: January 31, 2006