EE683 Robot Control

2020-Fall Offering:

Introduction: general introduction and brief review of linear algebra

Rigid body kinematics: Rotation matrix, transformation matrix, twist, wrench, coordinate transformations, a glimpse on rigid body dynamics, PD control on SO(3)/SE(3)

Motion and force control: PD control, PID control on joint and task space

Passivity: definition of dissipativity, definition of passivity, physical meanings, passivity of PD/PID controllers, port-Hamiltonian modeling, energy-tank method, PO/PC method

Disturbance observer: basic structure, equivalent forms (robust internal-loop compensator, residual-based observer), applications (friction observer, external force observer)

Kinematic redundancy: joint space decomposition, hierarchical whole-body controller

Under-actuated robots: definition,  flexible joint robot control, quadrotor control

Optimization-based control: optimization in general, optimality of PD/PID motion control,  calculus of variations, Pontryagin's extremal principle, dynamic programming, trajectory optimization

Robot dynamics: Analytical mechanics (Euler-Lagrange equation), holonomic/non-holonomic constraints

Introduction to differential geometry: Basic terminologies, Frobenius theorem, Riemannian metric, covariant derivative, Christoffel symbol, Levi-Civita connection, geodesic, robotics from the perspective of differential geometry