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Robot Manipulation Control, 4 credits

Course information

Research Education Subject

  • Computer Science

Course Syllabus

Course Syllabus


Course content

The course covers the following topics in the context of robot manipulation control:

  • Analysis of linear (and in part of nonlinear) systems
  • Stability criteria
  • Observability and controllability
  • Common motion control schemes applied to robotic systems (PID control, linearization and decoupling, predictive control, passivity-based control)
  • Overview of interaction control schemes (force control, impedance control)