Basic Robótics Control engineering.

The general course objective is to understand the robot control fundamentals. Specific objectives. The objective is that the students understand the methods to control a robot that depends on the task required. Basic control schemes about position and speed control for a single joint will be adresssed. Single joint independent controllers and coordinated muiti-joint control will be explained . The intaraction problems when there is contact with the environment will be introduced and the strategies to manage these situations. Force control and hybrid control will be studied. The structure of current multi-axis controllers will be explained. And finally high level control functions as task control, navigation, manipulation and grasping will be introduced.

1. Robot control architecture Morphology. Mechanical elements. Actuators. Transmissions. Sensors. Drivers. Basic control ideas. Main problems. 2. Robot Kinematic and Dynamic. Position and orientation representations. Transformations. Denavit-Hartenberg. Direct and Inverse kinematic. Lagrangian and Euler-Newton formulation. Direct and inverse dynamics. 3. Independent joint control Position control Loop. Velocity control Loop 4. Multijoint coordinate control 5. Force-torque control and hybrid control. 6. Multi-axis controller a. Synchronization b. Data exchange c. FeedForward and Notch filter 7. High level control a. Task controller b. Navigation c. Manipulation d. Grasping

THEORETICAL PRACTICAL CLASSES. Knowledge and concepts students must acquire. Receive course notes and will have basic reference texts. Students partake in exercises to resolve practical problems for which a laptop with Matlab is required. Required 100% on-site instruction. TUTORING SESSIONS. Individualized attendance (individual tutoring) or in-group (group tutoring) for students with a teacher. STUDENT INDIVIDUAL WORK OR GROUP WORK Individual work/0% on-site. WORKSHOPS AND LABORATORY SESSIONS. Subjects with 3 credits have 4 hours with 100% on-site instruction. Required 100% on-site instruction.