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SC4240TU: Control Methods for Robotics
ECTS: 3
Responsible Instructor: Dr. G.A. Delgado Lopes
Contact Hours / Week x/x/x/x: 0/0/4/0
Education Period: 3
Start Education: 3
Exam Period: 3, 4
Course Language: English
Expected prior knowledge: Linear algebra, differential equations, some experience programming
Course Contents: This course covers control methods for various classes of robotic systems such as manipulators and mobile robots (legged and wheeled). The control methodologies presented include:
1. Computed torque control
2. Impedance control
3. Passivity-based control
4. Nonholonomic control
5. Hybrid and supervisory control
Other topics are addressed by guest lecturers:
6. Learning control
7. Distributed control
Study Goals: After successfully completing this course the student should be able to:
- Define notions of configuration and work spaces
- Identify different classes of robotic systems and associated mathematical models
- Implement motion controllers
- Compare/differentiate control methodologies
- Discuss simulation results
Education Method: Lectures 0/0/4/0
Books: Recommended books:
Spong, Hutchinson, Vidyasagar, "Robot Modeling and Control"
Murray, Lee, Sastry, "A Mathematical Introduction to Robotic Manipulation"
Khalil, "Nonlinear Systems"
Assessment: 30% homework, 70% written exam
Special Information: Course website:
http://www.dcsc.tudelft.nl/~sc4240tu
More Information: http://www.dcsc.tudelft.nl/~sc4240tu
Last modified: 6 November 2013, 15:25 UTC
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