Advanced Robotics and Control

Course Description

Analyzes kinematic characteristics of planar and spatial manipulators. Differential kinematics and statics. Dynamics. Trajectory planning. Introduction to feedback control of physical system behavior. State-space and functional descriptions of linear and nonlinear systems. Feedback, stability, and robustness. Design of PID controllers and compensators. Interaction control. Actuators and sensors. Robot control architecture.



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