Robot Control Basics

This course includes teaching the fundamental bases of control applied in robotics, starting from different control laws and applying different control methods to optimize the output of our systems. Using experimental results gain insights about the influence of each term within a PID controller.

• Get familiar with Proportional-Integral-Derivative PID control basics.
• Learn how to generate a trajectory through a given set of two or more joint positions.
• Learn about multivariable controllers including inverse dynamics and test their response to a sinusoidal set point.
• Learn how to apply a desired end-effector force based on feedback from a force sensor.