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This course delves into advanced methodologies in robot control, integrating theoretical foundations with modern approaches applicable to real-world robotic systems. The course begins with essential preliminaries in robotics and nonlinear control, establishing a strong base in kinematics, dynamics, and system stability. It then progresses through a spectrum of control techniques including model-based, adaptive, and robust control methods. A significant portion of the course is dedicated to modern challenges in controlling redundant robots, force and impedance control strategies, and advanced passivity-based control methods, especially in the context of teleoperation. Students will develop both theoretical insights and practical skills, reinforced through simulations and case studies of contemporary robotic systems.

1. Introduction

2. Preliminaries in Robotics:
Dynamics
Differential Kinematics

3. Preliminaries in nonlinear control
State Space Representation
Stability Analysis

4.Motion Control :
Joint Space and Task Space Control
Model-Based Control Approaches
Adaptive and Robust Control
Redundant Robot Control

5.Interaction Control
Force Impedance Control
Energy based approach/ Tank Energy

6. Networked robots
Bilateral teleoperation
Passivity based control

7. Robot Learning

- Fundamentals of control engineering
- Fundamentals of robotics

Exercises are made available, presented and discussed during the lessons. Sample solutions are provided.
Through the homeworks and the provided project, students will gain hands-on experience in solving real-world problems using robotic systems.

- Exercises with solutions
- hands-on experience by the provided projects
- Tutorials