广告图片网站,双语网站建设公司,手机网站源码下载,公司网站建设的现状本文仅供学习使用 本文参考#xff1a; B站#xff1a;CLEAR_LAB 课程主讲教师#xff1a; Prof. Wei Zhang 南科大高等机器人控制课 Ch00 课程简介 1. What is this course about?2. Tentative Schedule暂定时间表 1. What is this course about?
Develop a solid found… 本文仅供学习使用 本文参考 B站CLEAR_LAB 课程主讲教师 Prof. Wei Zhang 南科大高等机器人控制课 Ch00 课程简介 1. What is this course about?2. Tentative Schedule暂定时间表 1. What is this course about?
Develop a solid foundation in robot modeling and control to conduct cutting edge research in robotics Math : Linear Algebra, Optimization Modeling: Advanced rigid body kinematics and dynamics(screw theory and spatial vectors) Optimization: learn how to formulate robotic decision and control problem as tractable optimization problems Control: Nonlinear control, optimal control, Model Predictive Control (Lyapunovfunc) Journal : TR-O, IJRR, ICRA, IROS
2. Tentative Schedule暂定时间表
Continuous time linear systems and Matrix ExponentialAdvanced Kinematics and Dynamics 2.1 Rigid body configuration and velocity 2.2 Exponential coordinate of rigid body motion 2.3 Kinematics of open chain 2.4 Rigid body dynamics 2.5 Multibody dynamics(Recursive Newton-Euler Algorithm, inverse and forward dynamics)Basic Optimization 3.1 Optimization problems and basic duality theory([数] 对偶理论; 二元论) 3.2 Semi-definite Programming(SDP) and linear matrix inequalitiesNonlinear Stability and Stabilization 4.1 Lyapunov stability theory 4.2 Numerical construction of Lyapunov functions via semi-definite programming 4.3 Control-Lyapunov Function for stabilizationBasic Robot Control 5.1 Differential IK 5.2 Robot Motion Control(Computed Torque Method Task-space Inverse Dynamics-TSID)Optimal Control and Model Predictive Control 6.1 Optimal control problem and dynamic programming 6.2 Model Predictive Control for Linear Systems 6.3 General MPC Theory(Closed-loop stability, recursive feasibility)
