Course Topics
The lecture introduces to topics of robot modelling in terms of kinematics and dynamics, trajectory planning and the control of robot manipulators with focus on motion control in joint and task space, interaction control, and vision-based control. Matlab/Simulink is introduced as computer-aided simulation and design tool to support the controller analysis and design.

Teaching format
The lessons are divided into frontal classroom lessons, and exercises to be solved alone or in a group with the help of Matlab/Simulink.

Educational objectives
Knowledge and understanding 1. Knowledge and understanding in the field of control of robot manipulators Applying knowledge and understanding 2. Ability to apply knowledge for solving given problems, including solving them with numerical data and with the help of software packages like Matlab/Simulink. Making judgements 3. Ability to judge plausibility of results. Communication skills 4. Maturing of technical-scientific terminology. Ability to learn 5. Learning skills to independently study and apply methods of robot control for specific applications beyond topics covered in this lecture.

Assessment
Formative assessment: In-class exercises (continuously as part of course accompanying exercises) Summative assessment: oral exam of approx. 30 minutes

Evaluation criteria
• Clarity and correctness of answers; • Soundness of the sketched approach to address a problem and the single steps involved; • Ability to summarize, evaluate, and establish relationships between topics; • Correct usage of terminology

Required readings

Blackboard and slides

Supplementary readings

Introduction to Robotics – Mechanics and Control, John Craig, Pearson, 2018.

Robotics – Modelling, Planning and Control, Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Springer, 2009.

Robot Modeling and Control, Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Wiley, 2006.

Modern Robotics – Mechanics, Planning and Control, Kevin M. Lynch, Frank C. Park, Cambridge, 2018.

Modelling, Indentification & Control of Robots, W. Khalil & E. Dombre, Kogan Page Science, 2004.

Robotics, Vision and Control, Peter Corke, Springer, 2011.

Further information
Software used: Matlab/Simulink