KON 421 - Robot Control

Course Objectives

1. To teach students to robot manipulator structures and elements.
2. To teach students to develop dynamic models of robot manipulators
3.To teach student to independent joint control techniques
4. To assist students to learn use of Matlab/Simulink to model, analyze, control and
simulate robotic systems.
5. To provide practice robot control application

Course Description

Introduction to robot manipulators. Dynamic models of robot manipulators. Lagrange - Euler method. Elements and control systems of robot manipulators. Path planning. Independent joint control. PD+ control, Feed forward control. Lyapunov approach. Laboratory projects.