KFUPM Code:

SCE 594: Special Topics in Intelligent Automation and Robotics

Catalog Description:

In-depth exploration of geometric modeling and 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.

New Additions / Modifications:

• 2 more lectures on Mathematical foundations
• Geometric Stabilization Control on SE(3)
• Geometric Impedance Control on SE(3)
• More Exercise Problems
• MATLAB Tutorials on Manipulator Modeling and Control using “Robotic Systems Toolbox”

Topic	Slides	Class Notes	Homework/ Assignment	Recording (Youtube Link)
1. Mathematical foundations	Lecture 1: Course Introduction & Set Theory Basics	Lec 1 Notes		Lecture 1
	Lecture 2: Maps between Sets and Groups	Lec 2 Notes	HW1	Lecture 2
	Lecture 3: Vector Spaces I	Lec 3 Notes		Lecture 3
	Lecture 4: Vector Spaces II	Lec 4 Notes	Asg1	Lecture 4
	Lecture 5: Vector Spaces III	Lec 5 Notes	HW2	Lecture 5
	Lecture 6: Manifolds and Lie Groups I	Lec 6 Notes		Lecture 6
	Lecture 7: Manifolds and Lie Groups II	Lec 7 Notes		Lecture 7
2. Rigid Body Modeling	Lecture 8: Configuration space of a rigid body			Lecture 8
	Lecture 9: Rigid body kinematics I	Lec 9 Notes	Asg2	Lecture 9
	Lecture 10: Rigid body kinematics II	Lec 10 Notes		Lecture 10
	Lecture 11: Rigid body dynamics I		HW3	Lecture 11
	Lecture 12: Rigid body dynamics II	Lec 12 Notes	Asg3	Lecture 12
3. Fixed-base manipulator modeling	Lecture 13: Modeling Ideal Joints			Lecture 13
	Lecture 14: Forward and Differential Kinematics	Lec 14 Notes		Lecture 14
	Lecture 15: Dynamics of Fixed-base Manipulators I			Lecture 15
	Lecture 16: Dynamics of Fixed-base Manipulators II		HW4	Lecture 16
4. Stability and control of mechanical systems	Lecture 17: Equilibrium points and Stability Notions	Lec 17 Notes		Lecture 17
	Lecture 18: Lyapunov’s direct method I			Lecture 18
	Lecture 19: Lyapunov’s direct method II	Lec 19 Notes		Lecture 19
	Lecture 20: La Salle’s Invariance Principle & PD Control on R3		Asg4	Lecture 20
	Lecture 21: Stabilization Control on SO(3) I	Lec 21 Notes		Lecture 21
	Lecture 22: Stabilization Control on SO(3) II	Lec 22 Notes		Lecture 22
	Lecture 23: Stabilization Control on SO(3) III and SE(3)		Asg5	Lecture 23
5. Control of Fixed-Base Manipulators	Lecture 24: Motion Control	Lec 24 Notes		Lecture 24
	Lecture 25: Impedance Control I			Lecture 25
	Lecture 26: Impedance Control II		HW5	Lecture 26
	Lecture 27: Impedance Control III			Lecture 27

MATLAB Tutorials

Tutorial Series – Robot Modeling

Youtube Playlist

Tutorial Series – Robot Control