Robot Control

  • Subject No.
  • Research
  • Credit
  • Classification
  • Prerequisite

This course is intended to cover kinematics, dynamics and control algorithm of a robot manipulator. After covering homogeneous transformations, kinematics equations, motion trajectory planning, we will handle various control methods. We will compare the utilization of these control methods through simulation.


  • Topics include system representation (input-output description, state variable description), solutions of linear dynamical equations, controllability and observability, irreducible realization, stability (BIBO stability, Lyapunov stability) for a rigorous treatment of linear systems. In addition, feedback linearization is to be covered.

  • This course describes the analysis and design of digital control systems. Sampling and data reconstruction and Z-transform in computer control system will be covered. Analysis and design of digital control systems using frequency domain techniques will be introduced. Also, the design of the digital control system using state space approaches will be covered. As a term project, a real-time digital control system will be implemented on a microprocessor system.

  • This course covers the design and analysis of the topology about the DC / DC converter, PFC (Power Factor Correction) circuit and control method in that topology. Also, the topology such as an inverter, resonant converter, and active power filter is introduced, and the control algorithm of that topology is studied in this course. Finally, the state of the art in power conversion system is discussed, and every student carries out a term project about design and modeling of a power supply. On completion of this course, students will have built confidence in their ability to design and analyze the power conversion system.
    (Prerequisite: EE391)

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