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Reglerteknik för objekthantering med robotarm, 4hp

Kursuppgifter

Forskarutbildningsämne

  • Datavetenskap

Kursplan

Kursplan

Kontaktpersoner

  • Lars Karlsson, Professor
    019 303355 This is an email address
  • Josefin Unander-Scharin, Utbildnings- och forskningsadministratör
    019 303507 This is an email address

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)