Robot Control

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.

a) To understand theoretical basis of control of open and closed kinematic chains and visual servoing.
(b) Validation of properties of the chosen control schemes on real robot mechanisms in the Laboratory of robotics.
(c) 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.