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ECE 486

Robot Dynamics and Control

Undergraduate

Spring 2025 · T3 Robot Dynamics and Control

Topics

  • Dynamics and control of manipulators
  • Kinematics and control of mobile robots
  • Optimization-based robot control
  • Implementation and experiments with robotic arms and mobile manipulators

Readings

  • Robot Modeling and Control
    Mark Spong, Seth Hutchinson and Mathukumalli Vidyasagar · unspecified
    Wiley, 2020; course textbook.
  • Robotics: Modelling, Planning and Control
    Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani and Giuseppe Oriolo · unspecified
    Springer, 2009; used for parts of course.
  • Convex Optimization
    Stephen Boyd and Lieven Vandenberghe · unspecified
    Cambridge, 2004; used for parts of course.
  • Robot Ecology: Constraint-Based Design for Long-Duration Autonomy
    Magnus Egerstedt · unspecified
    Princeton, 2021; used for parts of course.
  • Additional readings provided as appropriate.
    unspecified
Sources