Robot Control and Optimization

Course content

QUALIFICATION OBJECTIVES:

Students will acquire the competence to formalize applications of control engineering and optimization in robotics, select appropriate methods, and evaluate them with respect to their performance capabilities. This includes knowledge of current research and techniques in optimization and control. Exercises will reinforce what has been learned and apply it practically, including programming exercises.

CONTENT: Algorithms and Applications Control techniques and optimization in fundamental areas of robotics. This includes applications in

• Basic control architecture in robotics
• Computed torque control
• Force control
• Impedance control / Admittance control
• Dimensionality reduction of robotic manipulators
• Classical optimal control
• Optimization techniques
• Dynamic Programming
• Phase-Plane method