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COURSE DESCRIPTION: This course covers topics in control of robotic systems with motion constraints. A variety of applications associated to holonomic or nonholonomic constraints are considered and for each case, the control problems are discussed and solved. _____________________________________________________________ COURSE SYLLABUS: Brief review of nonlinear systems (if necessary) Force-motion control: Impedance control, Holonomic constraints, Compliant environments Cooperative robots: Force/motion control, Kinematics redundancy Robotic systems under non-holonomic constraints: Differential geometry background, Controllability and accessibility, Driftless systems, Feedback linearization techniques, Systems in chained forms, Space robots: Kinematics and dynamics modeling Topics on satellite control* Introduction to orbital dynamics Attitude determination and control Mobile robots: Modeling and structural properties: Kinematics and dynamics models Trajectory planning Motion control *Miscellaneous topics (if time allows) _____________________________________________________________ GRADING: Homework: 30% Mid-term exam: 30% Final exam: 40% ___________________________________________________________________ REFERENCES: 1. Theory of robot control, C. Canudas de Wit, B. Sicilliano and G. Bastin, Springer, 1996 2. Robot modeling and control, M. Spong, S. Hutchinson and M. Vidyasagar, John Wiley and sons, 2006, (SEE) 3. Modeling and control of robot manipulators, L. Sciavicol and B. Sicilliano, McGraw Hill, 1996 4. Introduction to Robotics: Mechanics and Control, (3rd edition), John J. Craig, 2003 5. Spacecraft dynamics and control, M. Sidi, Cambridge university press, 1997 6. Nonlinear systems, H. Khalil, Prentice Hall, 1996 7. Nonlinear and adaptive control design, M. Krestic, I. Kanellakopoulos, P. Kokotovic, John Wiley and sons, 1995 |
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Mars exploratory Spirit rover
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Space robot |
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Lift assistance manipulator |
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Control systems are ubiquitous |
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Sharif university of technology Department of electrical engineering Digital systems group/Robotics
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Robot Control 2 25-452, Spring 2014 Credits: 3 Level: Graduate, elective Hours: Sunday, Tuesday, 10:30-12 Location: Control lab |
