MEC 549: Robot Dynamics and Control

Course Description

This course will cover the fundamentals of dynamic modeling and control techniques for robots, focusing mainly on robot manipulators. The dynamic modeling part includes Lagrange formulation, Newton–Euler formulation, properties of the dynamic equations, and trajectory planning with dynamic constraints, and the control part includes nonlinear systems, state-space representation, Lyapunov stability theorems, feedback linearization, linear controller design, position control, motion control, inverse dynamics control, robust control, adaptive control, force control, impedance control, hybrid motion–force control, and implementation of controllers.

Course Syllabus

Syllabus

References

  • Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017 [Publisher, Amazon, PDF].
  • Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009 [Publisher, Amazon].
  • Rafael Kelly, Victor Santibáñez Davila, and Julio Antonio Loría Perez, Control of Robot Manipulators in Joint Space, Springer, 2005 [Publisher, Amazon].
  • Frank L. Lewis, Darren M. Dawson, and Chaouki T. Abdallah, Robot Manipulator Control: Theory and Practice, 2nd Edition, CRC Press, 2003 [Publisher, Amazon, PDF].
  • Christopher M. Kellett and Philipp Braun, Introduction to Nonlinear Control: Stability, Control Design, and Estimation, Princeton University Press, 2023 [Publisher, Amazon].
  • J.J. Slotine and W. Li, Applied Nonlinear Control, Pearson, 1991 [Amazon].

Course Materials