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ECEN 5438 - Robot Control

Catalog Data ECEN 5438 (3). Robot Control. Provides a comprehensive treatment of the mathematical modeling of robot mechanisms and the analysis methods used to design control laws for these mechanisms.
Credits and Design 3 credit hours. Elective course.
Prerequisite(s) PHYS 1110, Physics 1
ECEN 4138, Control Systems Analysis
Textbook Murray, Li, and Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.

Hall, Lie Groups, Lie Algebras, and Representations, Addison-Wesley/Prentice Hall, 2001.

Course Objectives To understand the mathematical description of robot dynamics, to develop control designs to obtain the desired closed-loop behavior, and to evaluate the resulting designs in computer simulations.
Topics Covered
  1. Homogeneous transformations and relative coordinate frames.
  2. Representations of orientation.
  3. Forward (direct) kinematics of robot manipulators.
  4. Inverse kinematics of robot manipulators.
  5. Robot velocities and static forces.
  6. Manipulator dynamics.
  7. Reference trajectory generation.
  8. Control theory applied to robot manipulators.
  9. Linear and nonlinear position control of robot manipulators.
  10. Force and compliance control.
  11. Teleoperation control.

Last revised: 08-02-11, PM, ARP.