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Robotic Manipulators Control

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  • Lecturer: Mahdi Khoramshahi (mahdi.khoramshahi@isir.upmc.fr)
  • Course code: MU5RBR10-COM
  • Student workload: 16 h of lectures, 6 h of tutorials, 8 h of labs
  • Credits: 3 ECTS
  • Specialization tracks: ROBOT SI MeDH
  • Semester offered: S1 S2 S3 S4
  • Language of instruction: French English
  • Targeted audience: Eng. Sc. department Other :
  • Localization : PMC Campus Other :

Course Overview

This course aims to train students in the principles and practical applications of controlling robotic manipulators, from understanding the dynamics of manipulators to implementing advanced control strategies. The teaching focuses on a comprehensive understanding of system dynamics and control theory for robotic applications.

Mots-clés : Actuator dynamics, single-joint control, feedforward control, pre-computed torques, joint-space control, task-space control, motion-planning, trajectory interpolation, constrained inverse kinematics, quadratic programming, adaptive control for robotic manipulators, physical interaction, impedance/admittance control, stability of robotic control loops, robotic manipulation.

Prerequisites

Students should have previously acquired the following prerequisites to follow this course:

  • Calculus (single and multivariable), Linear Algebra, Differential Equations
  • Linear dynamics and control
  • Mechanics basics (including dynamics and kinematics)
  • Recommended: Nonlinear control, optimal control, adaptive control
  • Recommended: Familiarity with ROS and programming in Python

Intended Learning Outcomes

By the end of this course, students will be able to:

  1. Understand the dynamics of a single robot joint including dyanmics of a DC motor and transmission effect
  2. Understand and apply PD and PID controllers to a single joint
  3. Understand and apply trajectory planning and interpolation methods to a single joint
  4. Understand and apply feedforeward control to a robotic manipulator
  5. Apply and Analyze Decentralized control of a 2d planer robot
  6. Understand centralized control of robotic manipulators
  7. Understand and apply Lyapunov stability theorem
  8. Apply and Analayze centralized control of robotic manipulators
  9. Understand Motion control for robotic manipulators,
  10. Apply different types of controllers for motion control
  11. Understand different approaches for task-space control
  12. Understand basic concepts for robotic interaction with the environment and humans

Indicative Teaching Sequence and Methods

Week C/TD/TP* Content Preparation Learn.\ outc.
S1 C1 Dynamics of a single robotic joint, Transimission effect AVV1-2
S2 C2 Set-Point control and decentralized control AVV3-4
S3 C3 / TD1 Trajectory Planning and Interpolation Methods AAV5
S4 C4 Feedforward control AAV6
S5 TP1 Decentralized control of a 2D planar robot AAV6
S6 C5 / TD2 Joint-space control, Centralized control AAV8-9
S7 TP2 Centeralized control of 2D Planar robot AAV10
S8 C6 Motion control, Adaptive control for robotic manipulators AAV11-12
S9 C7 Task-space control AAV13-14
S10 C8 / TD3 Interaction Control: imepdance/admittance control AAV15
  • C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.

Sequence of the unit

The UE is divided into 4 successive sequences:

  • Sequence 1: Introduction, single-joint control and trajectory generation (C1/2/3 + TD1 + Quiz1)

  • Sequence 2: Feedforward control, Decentralized control (C4 + TP1)

  • Sequence 3: Joint-space control, Centralized control (C5 + TD2 + TP2 + Quiz2).

  • Sequence 4: Advanced topics in control of manipulators (C6/7/8 + TD3)

Indicative Assessment of Intended Learning Outcomes (1st session)

Week Individ./group In-person/remote Type of exam Evaluated outcomes Scale %
S6 Individual In-person Quiz AAV 1-5 5%
S12 Individual In-person Quiz AAV 6-9 5%
S6 Group In-person TP AAV 1-10 30%
S12 Individual In-person Written exam AAV 1-15 60%

2nde session

Session Individ./group In-person/remote Type of exam Evaluated outcomes Scale %

Bibliographic references

  • Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. Robot modeling and control. John Wiley & Sons, 2020.
  • Kelly, Rafael, Victor Santibáñez, and Antonio Loría. Control of robot manipulators in joint space. Vol. 693. London: Springer, 2005.
  • Chung, Wan Kyun, Li-Chen Fu, and Torsten Kröger. "Motion control." Springer handbook of robotics (2016): 163-194.

Logo SDI Date of generation of this unit description: 06/10/2026 Logo SDI