Courses / theory

Robot Dynamics and Control

advanced~20 hours15 lessonsEnvironment: pyodide

Prerequisites: arm-kinematics, kinematics-mobile-robots

Start: Kinematics vs dynamicsPractice questions

Modules

Module 1 — Dynamics foundations
  1. 1Kinematics vs dynamics
  2. 2Mass, inertia, and torque
  3. 3Lagrangian mechanics: energy in, equations out
Module 2 — Equations of motion
  1. 1EOM for a pendulum
  2. 2EOM for a 2-link arm
  3. 3Widget: double pendulum chaos
  4. 4Gravity compensation
Module 3 — Feedback control
  1. 1Open vs closed loop
  2. 2P, PI, PID intuition
  3. 3Widget: PID tuning sandbox
  4. 4Tuning methods and pitfalls
Module 4 — Model-based control
  1. 1Computed torque control
  2. 2Trajectory generation and tracking
  3. 3Stability at a glance
  4. 4Project: PID + gravity compensation for a simulated joint

Textbooks

  • Modern Robotics (Ch. 8–11) — Lynch & Parkfree-book
  • Robotics: Modelling, Planning and Control — Siciliano et al.book

Video resources

  • Underactuated Robotics (Tedrake) — MIT OCW