Higher education teachers: Mihelj Matjaž
Collaborators: Podobnik Janez
Credits: 6
Semester: summer
Subject code: 64236



Subject description

Prerequisits:

Enrollment in the first year.

Content (Syllabus outline):

The entire content is divided into following major topics:

  • control of open kinematic chains (robotic sensors, joint space control and operational space control)
  • control of closed kinematic chains based on interaction forces (measurement of forces and torques, impedance control, direct force control) and
  • visual servoing (robot vision sensor, pose computation, computed pose based control and image based control),
  • robot control based on iterative learning control, reinforcement learning and artificial intelligence,
  • use of Robot operating system (ROS) for robot control.

Objectives and competences:

  • To understand theoretical basis of control of open and closed kinematic chains and visual servoing.
  • Validation of properties of the chosen control schemes on real robot mechanisms in the Laboratory of robotics.
  • Integration of knowledge gained in courses Introduction to robotics, Kinematics and dynamics of robots and Robot control in functional robotic system.

Intended learning outcomes:

After successful completion of the course, students should be able to:

  • design robot control methods for open and closed kinematic chains based on classical control approaches and modern artificial intelligence based concepts,
  • synthesize robot control based on visual servoing,
  • analyze parameters of the control system that affect stability,
  • integrate knowledge of kinematics, differential kinematics, statics and dynamics for the purposes of controlling industrial robots, haptic interfaces and other mechanical systems,
  • select the right approach and the complexity of control method for the specific mechanism and planned task,
  • solve a specific robot control problem within a workgroup.

Learning and teaching methods:

Lectures, laboratory work in small groups, complex robot control problem solving. Practical exercises take place on a number of modern industrial and other robots equipped with additional force sensors. The students have a textbook “Vodenje robotov” or equivalent English textbook with course content. Invited are guest speakers from the Slovenian industry. In this course, special attention is paid to safety.





Study materials

Readings:

  1. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics - Modelling, Planning and Control, Springer 2009
  2. J.J. Craig: Introduction to Robotics - Mechanics and Control, Pearson, Prentice Hall, 2005
  3. M.W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, John Wiley&Sons, Inc., 2006



Study in which the course is carried out

  • 1 year - 2nd cycle - Electrical Engineering - Robotics