Course Weekly Lecture Plan

Week	Topic
1	Types of Robot Control Problems: A. Platform i. Robotic Manipulators ii. Mobile Robots B. Kinematics and Dynamics i. Fully-actuated vs Underactuated ii. Holonomic vs. Nonholonomic constraints iii. Rigid-body vs. Soft Robotics
2	Reference Frames: A. Rotation Matrices B. Transformation Matrices, Homogeneous Transformations C. Coriolis’ Theorem: Time Derivative of a Vector in a Rotating Frame D. Quaternion Representations E. Inertial vs. Non-Inertial frames
3	Forward Kinematics
4	Inverse Kinematics
5	Dynamics: Lagrangian Dynamics, Rigid Body dynamics.
6	Nonlinear Control: Lyapunov Stability, Trajectory Tracking, Computed-Torque Control.
7	Robust Control of Robotic Manipulators
8	Adaptive Control of Robotic Manipulators
9	Path Planning: A. Shortest Path Algorithms: A*, Dijkstra’s B. Probabilistic Roadmaps (PRM): Sampling-based Planning in Configuration Space.
10	Trajectory Planning: A. Rapidly-Exploring Random Trees (RRT): Sampling-based Planning in State-Space, Kinodynamic Planning B. Polynomial Trajectory Generation
11	Trajectory Optimization: A. Optimal Control-Based Trajectory Generation B. Receding Horizon Planning and Control (Model Predictive Control)
12	State Estimation: A. Model-based State Estimator: Kalman Filter (Linear Case) B. Sensor Fusion: IMU and GPS C. Unscented and Extended Kalman Filters
13	Nonlinear State Estimation: A. Particle Filtering B. Robot Localization: Model-based/Map-based (A Priori Available)
14	Simultaneous Localization and Mapping (SLAM): A. Robot Localization with no a Priori Map. B. Pose Estimation: ICP-based Point Cloud Registration C. Pose Graph Optimization D. Trajectory Estimation and Environment Mapping

Courses

Help

About