KFUPM Code:
SCE 594: Special Topics in Intelligent Automation and Robotics
Catalog Description:
In-depth exploration of geometric control techniques for robotic systems, focus on the application of Lie group theory. Students learn how to model and control complex robotic systems by leveraging the mathematical structures of Lie groups and Lie algebras. Key topics include rigid body kinematics, dynamics on Lie groups, feedback control design, and geometric integration techniques. Emphasis on applications to drones, robotic arms, and other mechanical systems. Combines theoretical foundations with hands-on implementation of control algorithms, prepares students for advanced research in robotics.
Course learning objectives:
- Model complex robotic systems using Lie group theory.
- Study and apply rigid body dynamics on Lie groups for both fixed-base and floating-base manipulators.
- Analyze and utilize the mathematical structures of Lie groups and Lie algebras in control applications.
- Develop and implement geometric control algorithms for multirotor UAVs, robotic arms, and other mechanical systems.
- Integrate theoretical knowledge with hands-on implementation to prepare for advanced research in robotics.
Lectures