The course objective is to give students a few advanced concepts of robotics and teleoperation. Lectures will be given in a seminar form, to simplify student interaction and involvement. During the lab activities, students will learn how to implement advanced algorithms using the Robot Operating System (ROS) and Matlab/Simulink.
At the end of the course, students will be able to
- design a controller for electromechanical systems (e.g. electric motor),
- develop and implement advanced algorithms for bilateral teleoperation in ROS and Matlab/Simulink.
THEORY. Some of the advanced topics that will be addressed during the course include:
- manipulator dynamics
- motion control (PID)
- force control (force and impedance)
- passivity theory
- advanced algorithms for teleoperation
- communication time delay compensation
- Tuning of PID controller
- Implementation of velocity estimators
- Data-driven system identification
- Implementation of bilateral teleoperation algorithms
TEACHING AIDS: During the course, lecture notes, slides and scientific papers will be provided.
The exam will consist of a project addressing some topics discussed during the course. The student should have to implement in ROS (and/or in Matlab/Simulink) a teleoperation algorithm, test it, and prepare a brief technical document explaining his/her work.
To pass the exam, the student should:
- have understood the principles related to the design of a bilateral teleoperation system,
- be able to use the knowledge acquired during the course to solve the assigned problem,
- be able to describe their work by explaining and motivating the design choices.
Data from AA 2017/2018 are not available yet
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