This course focuses on the theory and methods used for the control of robotic manipulators. Topics include review of basic systems theory, robot position control, model-based trajectory tracking, and force control. Stability properties for each control strategy will be analyzed. Practical implementation issues will also be addressed. Students will simulate different control methods using MATLAB.

Course prerequisites: 

535.630 Kinematics and Dynamics of Robots, ordinary differential equations, linear algebra.

Course instructor: