Control Design for Robotic Systems

[0.50] credits · Graduate

This course focuses on control system design for robotic manipulators, equipping students with the theoretical foundations and practical techniques necessary to develop advanced controllers. Key topics include vector mathematics, coordinate transformations, kinematics, and robot dynamics. The course covers a range of position control strategies, such as PD control, computed torque control, adaptive control, sliding mode control, time-delay control, and disturbance observer-based control. Additionally, it explores force control methodologies, including impedance control and hybrid force control. Students implement and evaluate these controllers through MATLAB/Simulink-based simulations, gaining hands-on experience in analyzing robot dynamics and optimizing control performance.