www.kut.ac.kr

Course Description:

The goal of this course is to enable all students to have the skills and knowledge to successfully apply digital control methods. Implementation of control systems often involves digital components, even if the controlled system consists of analog electrical, mechanical, or other continuous time processes. This course covers methods of digital control, including issues related to A/D and D/A conversion. Topics include discrete-time and sampled-data systems, the Z-transform, frequency domain properties; sampling, D/A and A/D conversion issues; controller design via discrete-time equivalents to continuous-time controllers, by direct-digital root locus, by loop shaping, and via state feedback and observers; quantization effects, LQR optimal control and an introduction to LQG optimal control.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisite: Feedback Control System.

Text: “Digital Control Systems (Second Edition), by Benjamin C. Kuo, Oxford, 2006

References:

• Digital Control of Dynamic Systems, 3rd edition, by G.F. Franklin, J.D. Powell and M.L. Workman
• Discrete-Time Control Systems by K. Ogata
• Linear Optimal Control Systems by H. Kwakernaak and R. Sivan

Grade:

• Mid-Exam 30%
• Final Exam 40%
• Homework 20%
• Attendance 10%

Download Lecture Materials:

• Lecture 1: Introduction to Digital Control
• Lecture 2: Some Usefull Summations
• Lecture 3: Discrete Time Signals
• Lecture 4: Discrete Time Convolution
• Lecture 5: Convolution stability
• Lecture 6: Z-Transform
• Lecture 7: Solving difference equations
• Lecture 8: DT signals and dynamic response
• Lecture 9: Block Diagram Analysis of Sampled Data Systems
• Lecture 10:Discrete Equivalents to Continuous Transfer Functions
• Lecture 11:Digital PID control
• Lecture 12:Gain and Phase Margins
• Lecture 13:Z Transform in State Space
• Lecture 14:Pole Placement via State Feedback

• Task for Term Project
• Task Home Exam (2008)

Course Description:

In this course, dynamics and control methodologies of robot manipulators will be introduced. From independent joint control to impedance control, many different kinds of control methodologies for robots will be reviewed. After introducing general control method of robots, telerobotics and haptics will be introduced.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisite: Feedback Control System, Introduction to Robotics

Text: "Robot Modeling and Control," by Mark W. Spong etc.,Wiley,2006

Grade:

• Term-Project 70%
• Homework 20%
• Attendance 10%

Download Lecture Materials:

• Lecture 1: Introduction to Robots
• Lecture 2: Independent Joint Control
• Lecture 3: Dynamics
• Lecture 4: Multivariable Control
• Lecture 5: Force Control
• Lecture 6: Introduction to Haptic and its applications
• Lecture 7: Dynamics
• Lecture 8: Control of Telerobotics

Download Example for Term Project

• Manipulator dynamic modelling, PD-control, robust control and visualization: ZIP-archive: PPT+source files

Course Description:

In this course...

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Text: "Robot Mechanisms and Mechanical Devices Illustrated," by Paul E. Sandin, McGraw-Hill.

Course Description:

In this course, haptic and telerobotic systems will be introduced. After introducing basic concept and application area of haptic and telerobotic systems, we will mainly focus on dynamics and control methodologies of haptic and telerobotic systems. Several key papers in this area will be studied together, and time-domain passivity controller will be deeply studied as a special topic.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250
Prerequisite: Feedback Control System, Introduction to Robotics.
Grade: Term-Project 70%; Homework 20%; Attendance 10%.

Lecture Materials:

• Lecture 1: Introduction to Haptics and Telerobotic Systems
• Lecture 2: Dynamics of Haptic and Telerobotic Systems
• Lecture 3: Control method of Haptic and Telerobotic Systems
• Lecture 4-9: Key papers (key papers will be announced later)
• Lecture 10: Term project proposal
• Lecture 11-14: Time Domain Passivity Controller
• Lecture 15: Term project final presentation

Recommended papers on Teleoperation and Haptics:

• [1] Yasuyoshi Yokokohji, Tsuneo Yoshikawa, "Bilateral control of master-slave manipulators for ideal kinesthetic coupling - formulation and experiment," IEEE Transactions on Robotics and Automation, Vol. 10, NO5, October.
  Original paper is available at IEEE Xplorer LINK

---

• [2] Hannaford, B., "A design framework for teleoperators with kinesthetic feedback," Robotics and Automation, IEEE Transactions on , vol.5, no.4, pp.426-434, Aug 1989
  Original paper is available at IEEE Xplorer LINK

---

• [3] Lawrence, D.A., "Stability and transparency in bilateral teleoperation," Robotics and Automation, IEEE Transactions on , vol.9, no.5, pp.624-637, Oct 1993
  Original paper is available at IEEE Xplorer LINK

---

• [4] H. Kazerooni, C. L. Moore, "An Approach to Telerobotic Manipulators," ASME Journal of Dynamic Systems Measurements and Control, Vol. 119, No. 3, Sept 1997, pp. 431-438.
  Original paper is available at LINK

---

• [5] H. Seraji, R. Colbaugh, "Force tracking in impedance control," Intern. Journ. of Robotics Research, 16(1), pp. 97-117, 1997.
  

  ---

• [6] Adams, R.J.; Hannaford, B., "Stable haptic interaction with virtual environments," Robotics and Automation, IEEE Transactions on , vol.15, no.3, pp.465-474, Jun 1999
  Original paper is available at IEEE Xplorer LINK

---

• [7] Colgate, J.E.; Brown, J.M., "Factors affecting the Z-Width of a haptic display," Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on , vol., no., pp.3205-3210 vol.4, 8-13 May 1994
  Original paper is available at IEEE Xplorer LINK

---

• [8] Colgate, J.E.; Schenkel, G., "Passivity of a class of sampled-data systems: application to haptic interfaces," American Control Conference, 1994 , vol.3, no., pp. 3236-3240 vol.3, 29 June-1 July 1994
  Original paper is available at IEEE Xplorer LINK

---

• [9] Jee-Hwan Ryu, Dong-Soo Kwon and Blake Hannaford, “Stable Teleoperation with Time Domain Passivity Control,” IEEE Trans. on Robotics and Automation, Vol. 20, No. 2, pp. 365-373, 2004. SCI Impact Factor: 2.103 PDF

---

• [10] Jee-Hwan Ryu, Yoon Sang Kim and Blake Hannaford, “Sampled and Continuous Time Passivity and Stability of Virtual Environments,” IEEE Trans. on Robotics, Vol. 20, No. 4, pp. 772-776, 2004. PDF