Lecture: Manipulator Control

Description

Lecture Description

Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking

Course Description

The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control.

The course is presented in a standard format of lectures, readings and problem sets. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes. Lectures will follow roughly the same sequence as the material presented in the notes, so it can be read in anticipation of the lectures.

Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design.

Prerequisites: matrix algebra.

from course: Introduction to Robotics