Robot Control

The course covers technologies and methodologies for robot control. It starts with the control of open kinematic chains, focusing on robotic sensors and control in joint and task space. It then goes on to consider closed kinematic chain control, which improves the interaction of the robot with its environment. It introduces the methodology of force and torque measurement and force control using impedance and direct control. The chapter on vision-based robot control explores the use of sensors for visual sensing, pose calculation and robot control based on visual data, which increases autonomy and flexibility. Control methodology based on reinforcement learning and artificial intelligence extends the capabilities of robots, allowing them to learn autonomously and adapt to new situations. The use of the Robot Operating System (ROS) as a standard platform for robot control highlights the importance of modularity, code reuse and community in the development of robotic applications.

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.

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.