UZB 438E - Robotic Control Systems

Course Objectives

1. To demonstrate how to model and describe the kinematic and dynamic motion of robots.
2. To demonstrate how to control the robot, by commanding its actuators to track a desired pre-planned motion in a stable and robust manner, under the assumption that the robot is fully aware of its pose.
3. To demonstrate how to plan robotic motion.
4. To demonstrate how to estimate the robot’s pose and motion from sensory input in known and unknown environments.

Course Description

Course Description Explains what the control problem in robotics is; how it fits within the autonomy and automation pipeline; how the motion control design problem depends on estimating the robot pose and on planning the motion in known and unknown environments. The course focuses on basic mathematical design and analysis tools for the control, planning and estimation of robot motion. The platforms considered are robotic manipulators and mobile robots.