Course Overview
Introduction to Robotics: Technological aspects, types of robots, application areas. Kinematic, static and dynamic analysis of robotic manipulators. Trajectory planning and control of robots. Linear local joint PID control, nonlinear computed-torque control, force/impedance control and hybrid control of robots. Introduction to adaptive and robust control of robots. Robot programming. Laboratory training: continuous and discrete control of a robot joint, linear and nonlinear control of an articulated inverted pendulum, programming of a robotic cell, programming and control of robotic manipulators (a serial linkage 6 dof manipulator and a SCARA-type robot).
