Robotics 2

Course title: Robotics 2

Code: FEIT01L012

Number of credits (ECTS): 6

Weekly number of classes: 2+2+1+0

Prerequisite for enrollment of the subject: None

Course goals/Competences: Learning the techniques for control of industrial manipulators. Ability of designing practical robot control system.

Total available number of classes: 180

Curriculum: Introduction: basic concepts of robot control. Trajectory planning: path and trajectory, trajectory in joint space, trajectory in workspace, trajectory planning techniques. Manipulator control: Close loop control, P,PD, PI and PID control, Continual and discrete manipulator control systems, Architecture of manipulator controller. Decentralized control: Independent joint control, Decentralized feed forward compensation. Centralized control:  PD control with gravity compensation, Inverse dynamics control, Robust control, Adaptive control. Operational space control. Force control: Manipulator interaction with environment, Force control with inner position loon, Force control with inner velocity loop, Parallel force/position control. Fuzzy logic manipulator control. Computer vision and control.

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