## Manipulation and Control - 2010 |
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Manipulation and Control is a first year graduate course offered annually at Örebro University. Notes from 2009 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 [31.Aug]
- Handout 2 - Linear algebra (review) 1 [07.Sep]
- Handout 3 - Linear algebra (review) 2 [10.Sep]
- Handout 4 - Systems of linear equations and SVD [14.Sep]
- Handout 5 - Linear dynamical systems - examples (difference equations) [24.Sep]
- Handout 6 - Qualitative behavior of linear systems [28.Sep]
- Handout 7 - LDS with inputs and outputs (convolution) (see Handout 7sf, sfunc.m, convolution_CT.m) [05.Oct]
- Handout 8 - Controllability [08.Oct]
- Handout 9 - Observability, Eigenvalue placement (to be updated) [12.Oct]
- Fundamentals of Lyapunov stability theory (see support_notes_Lyap.pdf) [week 43]
- Handout 10 - Multibody simulation [19.Oct]
- Handout 11 - PD control, Inverse Dynamics control (joint space) [22.Oct]
- Handout 12 - The manipulator Jacobian matrix [26.Oct]
- Handout 13 - Inverse Dynamics control (task space) [29.Oct]

end of first part (Lecture [20.Sep], review)

end of second part

- Lab 1 - Numerical solution of ODEs [06.Sep]
- Lab 2 - Linear algebra [13.Sep]
- Lab 3 - Systems of linear equations and SVD [20.Sep]
- Lab 4 - SVD, pseudoinverse, ellipsoids [29.Sep]
- Lab 5 - Matrix exponential [04.Oct]
- Lab 6 - Convolution, Controllability [11.Oct]
- Lab 7 - PD control [18.Oct]
- Lab 8 - Inverse dynamics control [25.Oct]

- Examples using Matlab and Simulink
- Euler.m
- rk4.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
- sfunc.m
- convolution_CT.m
- Handout 7sf - Singularity functions
- 2DConvolution.zip
- bMSd - Multibody simulator
- support_notes_bMSd
- support_notes_traj - Trajectory generation
- support_notes_Lyap - Fundamentals of Lyapunov stability theory (to be updated)
- control_ABB.m

[Last update: 29. Oct. 2010]