## Manipulation and Control - 2011 |
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Manipulation and Control is a first year graduate course offered annually at Örebro University. Notes from 2010 can be found here.

The aim of the course is to introduce the analysis of linear (and in part of nonlinear systems),
as well as common control schemes applied to robot manipulators. The course will be divided into
four parts. The ** first part ** will be a review of basic concepts from linear algebra and
differential calculus relevant to the dynamics and control of systems. The ** second part **
starts with a review of some of the properties of linear systems, and covers stability analysis of
nonlinear systems. In the ** third part ** part, the model of a robotic manipulator will be
used as an example of a nonlinear system, and commonly applied motion control strategies will be
discussed (PID control, linearization and decoupling control, predictive control, passivity based
control, robust and adaptive control, compliant motion control). The ** forth part ** will be a
final project where each student will have to apply an advanced control scheme to a manipulator
system.

- Handout 1 - Introductory lecture
- Handout 2 - Linear algebra (review)
- Handout 3 - Linear algebra (review) 2
- Handout 4 - Systems of linear equations and SVD
- Handout 5 - Linear dynamical systems - examples (difference equations)
- Handout 6 - Qualitative behavior of linear systems (Phase_plane.pdf, Lecture6_structure.pdf)
- Handout 7 - LDS with inputs and outputs (convolution)
- Notes_controllability_observability.pdf - Controllability and observability
- Please refer to notes from last year.

end of first part

- Lab 1 - Numerical solution of ODEs
- Lab 2 - Linear algebra
- Lab 3 - Systems of linear equations and SVD
- Lab 4 - SVD, pseudoinverse, ellipsoids

- How to write reports
- Euler.m
- rk4.m
- plot_plane.m
- back_subst.m
- forw_subst.m
- poly_fit_bc.m
- SVD_image_compr.m
- giraffe.jpg

[Last update: 17. Oct. 2011]