Robot Programming and Control for Human Interaction
The lecture is recommended for master students which already had an introductory lecture in robotics. Terms like kinematics, Jacobians and basic dynamics notions are assumed to be known and are only very briefly revisited.
WS24/25
The course can now be found in moodle.
Literature
Task Level Decoupling Control:
O. Khatib, Lecture Notes:Advanced Robotic Manipulation
Passivity based control, adaptive control:
M. W. Spong, S. Hutchinson, M. Vydiasagar: Robot Modelling and Control, John Wiley & Sons, 2006
J. J. Slotine, W. Li: Applied Nonlinear Control, Prentice-Hall, 199
Modelling, parameters identification:
W. Khalil, E. Dombre: Modelling, Indentification & Control of Robots, Hermes Penton Ltd., 2002