ADA527 Advanced robot control

Contents and structure

Advanced robot control algorithms take into account the dynamical model of the robot is necessary to be able to interact safely with the environment.

The course covers robot dynamics, dynamic control of robots, robot learning, robot sensor fusion, and important aspects of human-robot cooperation and soft robots.

The programming software used in the course will predominantly be Matlab.

Learning Outcome

Knowledge:

The student…

• Can develop advanced dynamic control methods for robot manipulators and selected types of mobile robots
• Can understand how safety and control can be applied for human-robot interaction and soft robots
• Can understand how robot learning can be applied to robot control problems
• Can understand and implement sensor fusion algorithms using a Kalman filter

Skills:

The student…

• Can model and analyze robot dynamics for robot manipulators and selected types of mobile robots
• Can develop model-based robot control schemes for robot manipulators and selected types of mobile robots
• Can apply robot learning to solve robot problems
• Can fuse different sensor inputs optimally using a Kalman filter

General competency: 

The student…

• Can take charge of robot control development projects in the industry
• Can participate in robot control research projects in academia
• Can communicate with robotic scientists using relevant terminology
• Can propose new and innovative robot control solutions to real-life problems.

Recommended previous knowledge

ELE306 Robotics or similar

ADA526 Applied Robotic prototyping

Teaching methods

Lectures (both physical and digital), laboratory exercises, mandatory assignments, and a semester project.

Compulsory learning activities

3 approved mandatory assignments

3 approved laboratory exercises

In order to take the examination all the course requirements must be approved.

Assessment

The exam has two parts:

1. The semester project report (in groups), counts for 25% of the final grade
2. Oral exam, 30 minutes, counts for 75% of the final grade

The grading scale is A to F, where F is a failing grade. Both parts of the exam must result in a passing grade in order to get a final grade for the course. If a students fails one of the parts, that part can be re-taken separately.

Examination support material

All support materials are permitted.

More about examination support material