Control of Robotic Systems
Spring 2019, Sun- Tue, 15:00-16:30
Dr. Hamid Sadeghian, Dr. Mehdi Keshmiri
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References;
- B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, New York, NY, USA: Springer, 2009.
- Applied Nonlinear Control, J.J. Slotine, W. Li, Prentice-Hall 1991
- Control of Robot Manipulators in Joint Space, R. Kelly, V. Santibanez and A. Loria, 2005
- Robot Manipulator Control, theory and practice, F. Lewis, D. Dawson, C. Abdallah, 2004
- B. Siciliano, O. Khatib, Springer Handbook of Robotics, 2008
Evaluation
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امتحان درس در دو قسمت به صورت کتاب بسته و سپس کتاب باز برگزار می شود.
در بخش کتاب باز امکان استفاده از لپتاپ وجود ندارد
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Final
Homeworks & Projects
Course Materials
01 intro.pdf
02 nonlinear control.pdf/ 13Esfand
03Robotic preliminaries
04Motion control /01Ordibehesht
05Force control/16Ordibehesht
06Visual servoing/6Khordad
Updates
HWs: Hw1-Hw5 are obligatory.
HW1.pdf /Due: 10Esfand
HW2.pdf /Due: 21Esfand
HW3.pdf /Due: 25Farvardin
HW4.pdf /Due: 17Ordibehesht
HW5.pdf/ Due: 26Khordad
HW6.pdf /Due: (اختیاری)
Seminars
Schedule
- Undergraduate Course, Spring 2020.
- Instructor: Dr. Hamid Sadeghian
- Sunday-Tuesday 15:00-16:30, Room 4, Mechanical Engineering Dept.
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References
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Course Description
- Introduction
- Kinematics
- Dynamics
- Trajectory Planning
- Control
Robotics for graduate students,
- Fall 2018, Sun- Tue, 16:30-18:30
- Dr. Hamid Sadeghian, Dr. Mehdi Keshmiri
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References
-
B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control,
New York, NY, USA: Springer, 2009. -
B. Siciliano, O. Khatib, Springer Handbook of Robotics, 2008
-
M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, 2005.
Evaluation
- Midterm1
- Midterm2
- Final
- Homeworks and Projects