AI331
ROBOT DYNAMICS AND CONTROL
- Course Code
- AI331
- Semester
- Fifth Term (Fall)
- Theory+Practice
- 3 + 1
- ECTS
- 5
| Course Type | Compulsory Course |
|---|---|
| Course Level | Bachelor's Degree |
| Year of Study | 3 |
| Semester | Fifth Term (Fall) |
| ECTS | 5 |
| Name of Lecturer(s) | - |
| Learning Outcomes |
At the end of this course, the students; |
| Mode of Delivery | |
| Prerequisites | Yes(AI216) |
| Recommended Optional Programme Components | |
| Course Description | Rigid body dynamics, Euler-Lagrange formulation, trajectory generation, force and impedance control. Review of transformations. Linear vector spaces. Linear operators. Eigenvector analysis, Jordan form. Singular Value Decomposition. Linear systems; input-output and state variables, time-invariant and time varying systems. Discrete-time systems. Analysis of linear systems; controllability, observability, Kalman decomposition, BIBO stability, asymptotic stability, Lyapunov stability. |
| Course Contents | |
| Recommended or Required Reading | * Spong, M. W., Hutchinson, S., & Vidyasagar, M. "Robot Modeling and Control", Wiley. * Siciliano, B., & Khatib, O. "Springer Handbook of Robotics". * Frank C. Park & Kevin M. Lynch, "Modern Robotics: Mechanics, Planning, and Control", Cambridge University Press. * Modern Control Engineering, Katsuhiko OGATA, Prentice Hall. * Modern Control Systems. 9th Ed., Richard C. Dorf, Robert H. Bishop, Prentice Hall |
| Planned Learning Activities and Teaching Methods | |
| Assessment Methods and Criteria | |
| Language of Instruction | - |
| Work Placement(s) | No |