Nov 11, 2026

2026-2027 Graduate Academic Calendar

METE 5102G - Control Design in Robotic Systems

This course deals with the topic of control design in robotic systems. Specifically, the course addresses the theories and techniques required to design controllers for robot manipulator systems. The detailed topics include: vectors/coordinate transforms, kinematics, robot dynamics, position control (such as PD control, computed torque control, adaptive control, sliding mode control, time-delayed control, disturbance observer) and force control (such as impedance control, hybrid force control). Students will design the introduced controllers and analyze robot dynamics and control performance through MATLAB/Simulink based simulations.
Credit hours: 3