Course title: Robotics 2
Number of credits (ECTS): 6
Weekly number of classes: 2+2+1+0
Prerequisite for enrollment of the subject: None
Course Goals (acquired competencies): The students will be introduced to the concepts of design and control of industrial manipulators, and will be enabled to design and implement practical robot control systems.
Total available number of classes: 180
Course Syllabus: Introduction, basic concepts of robot control. Trajectory planning, joint space trajectories, working space trajectories, trajectory calculation techniques – cubic interpolation. Manipulator control, feedback control, P, PD, PI, PID control, path following. Decentralized control, independent joint control, decentralized feed-forward compensation. Centralized control, PD control with gravity compensation, inverse dynamics control, robust control, adaptive control. Workspace control. Force feedback control, manipulator-environment interaction, position feedback force control, velocity feedback force control, parallel force and position control.
|Rafael Kelly, V. S. Davila, J. A. L. Perez||Control of Robot Manipulators in Joint Space||Springer||2005|