Robot Control (ILV)

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Course lecturer:

 Andreja Rojko , Ph.D.
Specialization AreaControl Systems
Course numberM2.05280.32.491
Course codeRobCon
Curriculum2016
Semester of degree program Semester 3
Mode of delivery Presencecourse
SPPW2,0
ECTS credits2,0
Language of instruction English

The students are able to understand the main concepts of robotic control. They are able to design controllers for different robotic systems and evaluate different methods. They are familiar with the corresponding mathematical descriptions and methods.

Students will be able to: - understand the main concepts of robot motion and force control, - select and design robot motion and force controllers by considering the requirements and properties of the target robot system, - simulate robot controller - robot system (MATLAB/Simulink), - evaluate efficency of the implemented control methods.

Introduction to robot control
Properties of robot dynamics
Computed torque control method
Robust control
Adaptive control concepts
Force control
Control of mobile robots

Practical issues at realization of the robot control

John J. Craig, Introduction to Robotics, Mechanics and Control, third edition, Pearson, 2005
Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
Robotics, Modelling, Planning and Control, Springer, 2010
TadejBajd, MatjažMihelj, JadranLenarcic,AlešStanovnik, Marko Munih, Robotics, Springer, 2010

John J. Craig, Introduction to Robotics, Mechanics and Control, third edition, Pearson, 2021 Selected scientific publications