- Self-paced
- Free Access
- Fee-based Certificate
Robotics: Dynamics and Control
- 12 Sequences
- Advanced Level
Course details
Syllabus
Week 1: Introduction and Course Overview
Week 2: Rigid Body Dynamics
Week 3: Dynamics of Robot Arms
Week 4: Project #1: Modeling of a Robot Arm
Week 5: Introduction to Linear Control
Week 6: State Space Modeling and Multivariable Systems
Week 7: Nonlinear Control
Week 8: Stability Theory
Week 9: Project #2: Control and Trajectory Following for a Mobile Robot
Week 10: Quadrotor Control
Week 11: Trajectory Generation
Week 12: Project #3: Planning and Control of a Quadrotor
Prerequisite
Good working knowledge of the following undergraduate subjects is required:
- Linear algebra
- Rigid body dynamics
- Multivariable calculus
- Ordinary differential equations
The knowledge of basic computer science data structures such as graphs, link lists, etc. is preferred, but students may also choose to learn these skills on their own. The class projects will also require knowledge of MATLAB and programming in C or C++.
Instructors
Vijay Kumar
Nemirovsky Family Dean of Penn Engineering
University of Pennsylvania
Ani Hsieh
Research Associate Professor, Department of Mechanical Engineering & Applied Mechanics
University of Pennsylvania
Editor
The University of Pennsylvania (commonly known as Penn), founded in 1740, is a private university located in Philadelphia, Pennsylvania, USA. A member of the Ivy League, Penn is the fourth oldest institution of higher learning in the United States and considers itself the first university in the United States to offer both undergraduate and graduate degrees.
Platform
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