Dersin Haftalık Planı

Hafta	Konu
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. Angle-Axis, Quaternion Representations D. Inertial vs. Non-Inertial Frames E. Coriolis’ Theorem: Time Derivative of a Vector in a Rotating Frame
3	Forward Kinematics
4	Inverse Kinematics
5	Dynamics A. Lagrangian Dynamics B. Rigid Body Dynamics
6	Nonlinear Control A. Lyapunov Stability of Nonlinear Dynamics B. Trajectory Tracking C. Computed-Torque Control
7	Robust Control of Robotic Manipulators
8	Adaptive Control of Robotic Manipulators
9	Path and Trajectory Planning A. Motion Planning in Task Space B. Shortest Path Algorithms: Dijkstra’s, A* C. Polynomial Trajectory Generation in Joint Space
10	Sampling-based Motion Planning A. Probabilistic Roadmaps (PRM): Sampling-based Planning in Configuration Space B. Rapidly-Exploring Random Trees (RRT): Sampling-based Planning in State-Space, Kinodynamic Planning
11	Trajectory Optimization A. Optimal Control-based Trajectory Planning B. Receding Horizon Planning and Control (Model Predictive Control)
12	Dynamics with Kinematic Constraints A. Holonomic Constraints B. Nonholonomic Constraints
13	State Estimation A. Bayesian Filtering B. Kalman Filtering (Model-based) C. Sensor Fusion: IMU and GPS
14	Robot Localization A. Particle Filtering B. Robot Localization: Model-based/ Map-based (A Priori Available) C. Robot Localization with no a Priori Map. Brief Intro to Simultaneous Localization and Mapping (SLAM): i. Pose Estimation: ICP-based Point Cloud Registration ii. Pose Graph Optimization iii. Trajectory Estimation and Environment Mapping

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