Dynamic Control of Robotic Manipulators

3 credits · Graduate

Dynamic and kinematic analysis of robotic manipulators. Sensors (position, velocity, force and vision). Actuators and power transmission lines. Direct drive and indirect drive. Point to point control. Straight and curved path following. Industrial practice in servo control. Applications of optimal linear quadratic control, preview control, nonlinear control, and direct/indirect adaptive controls. Force control and compliance control. Collision avoidance. Utilization of dynamic controls