Lectures (Video)
- 1. Introduction
- 2. Spatial Descriptions
- 3. Spatial descriptions 2
- 4. Forward Kinematics 1
- 5. Forward Kinematics 2
- 6. Jacobians: Velocities
- 7. Jacobians: Explicit Form
- 8. Jacobians: Static Forces
- 9. Vision in Robotics
- 10. Inverse Kinematics, Trajectory generation
- 11. Dynamics: Acceleration and Inertia
- 12. Dynamics: Explicit Form
- 13. Control: PID control
- 14. Control: Joint space control
- 15. Control: Operational space control and Force control
- 16. Advanced Topics
Introduction to Robotics - Lecture 15
|
Get the Flash Player to view video.
Lecture 15 - Control: Operational space control and Force control
Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking
Prof. Oussama Khatib
CS223A Introduction to Robotics, Winter 2007/2008 (Stanford University: Stanford Engineering Everywhere) http://see.stanford.edu Date accessed: 2009-01-21 License: Creative Commons Attribution 3.0 |
Lecture Material
Supplementary lecture material is listed below.1. Handout on Control (432 KB pdf)
2. Assignment 6
3. Solutions for Assignment 6
