| Overview | MSc info | MSc program | MSc topics | ET | TN | WBMT |
| 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 |
