| date | subject | |
|---|---|---|
| lecture 1 | January 13 | Overview of course + Introduction to robot control |
| lecture 2 | January 15 | geometry + math review |
| lecture 3 | January 20 | Robot Kinematics + Jacobians |
| lecture 4 | January 22 | Kinematic Redundancy |
| lecture 5 | January 27 | Manipulability |
| lecture 6 | January 29 | Local redundancy resolution: Resolved Motion Rate Control + Singularity Robust Inverse of the Jacobian |
| lecture 7 | February 3 | Local redundancy resolution with task priority |
| lecture 8 | February 5 | Global redundancy resolution |
| lecture 9 | February 10 | Global redundancy resolution |
| lecture 10 | February 12 | Manipulator dynamics: Newton-Euler and Lagrange |
| lecture 11 | February 17 | Properties of the dynamic equations + actuator dynamics |
| lecture 12 | February 19 | Review of feedback control |
| lecture 13 | February 24 | Individual joint PID control |
| lecture 14 | February 26 | Q&A + Review for midterm |
| lecture 15 | March 3 | Midterm Exam |
| lecture 16 | March 5 | Computed torque -- inverse dynamics |
| lecture 17 | March 10 | Controllers derived from the computed torque method. |
| lecture 18 | March 12 | Optimal Control |
| lecture 19 | March 17 | Dynamic programming and LQ optimal control |
| lecture 20 | March 19 | Steady state optimal control - algebraic Riccatti equation |
| --- | March 24 | Spring Break |
| --- | March 26 | Spring Break |
| lecture 21 | March 31 | Robust control |
| lecture 22 | April 2 | Sliding mode control |
| lecture 23 | April 7 | Adaptive control |
| lecture 24 | April 9 | Adaptive control |
| lecture 25 | April 14 | Force control |
| lecture 26 | April 16 | Hybrid position/force control |
| lecture 27 | April 21 | Impedance control |
| lecture 28 | April 23 | Stiffness control |
| lecture 29 | April 28 | Q&A + Review for final |
| lecture 30 | April 30 | Final exam |