## Manipulation and Control - 2009 (fall) |
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Manipulation and Control is a first year graduate course offered annually at Örebro University.

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 [03.Sep]
- Handout 2 - Linear algebra (review) 1 [10.Sep]
- Handout 3 - Linear algebra (review) 2 [11.Sep]
- Handout 4 - SVD [17.Sep]
- Handout 5 - Linear dynamical systems - examples (difference equations) [24.Sep]
- Handout 6 - Qualitative behavior of linear systems [25.Sep]
- Handout 7 - LDS with inputs and outputs (convolution) [01.Oct]
- Handout 8 - Controllability [08.Oct]
- Handout 9 - Multibody simulation [09.Oct]
- [support_notes_bMSd & Lab 7] - Review, using bMSd, PD control [15.Oct]
- [no lecture] - [22.Oct]
- Handout 12 - PD control, Inverse Dynamics control (joint space) [23.Oct]
- Handout 13 - The manipulator Jacobian matrix [29.Oct]
- Handout 14 - Inverse Dynamics control (task space) [30.Oct]

- Lab 1 - Numerical solution of ODEs [07.Sep]
- Lab 2 - Linear algebra [14.Sep]
- Lab 3 - Systems of linear equations / SVD [21.Sep]
- Lab 4 - Matrix exponential [28.Sep]
- Lab 5 - Convolution [05.Oct]
- Lab 6 - Controllability [12.Oct]
- Lab 7 - PD control [19.Oct]
- Lab 8 - Inverse dynamics control [09.Nov]

- Introduction to Matlab and Simulink
- Euler.m
- rk4.m
- phase_portrait.m
- plot_arrow.m
- plot_plane.m
- back_subst.m
- forw_subst.m
- poly_fit_bc.m
- SVD_image_compr.m
- giraffe.jpg
- msd_n.m
- data_market.m
- bMSd - Multibody simulator
- support_notes_bMSd
- support_notes_traj - Trajectory generation
- control_ABB.m

[Last update: 09. Nov. 2009]