{"id":45,"date":"2025-08-30T13:22:14","date_gmt":"2025-08-30T12:22:14","guid":{"rendered":"https:\/\/ramyrashad.com\/?page_id=45"},"modified":"2025-08-30T18:55:01","modified_gmt":"2025-08-30T17:55:01","slug":"geometric-control-on-robotic-systems","status":"publish","type":"page","link":"https:\/\/ramyrashad.com\/index.php\/geometric-control-on-robotic-systems\/","title":{"rendered":"Geometric Control on Robotic Systems"},"content":{"rendered":"\n<p><strong>KFUPM Code:<\/strong><\/p>\n\n\n\n<p>SCE 594: Special Topics in Intelligent Automation and Robotics<\/p>\n\n\n\n<p><strong>Catalog Description:<\/strong><\/p>\n\n\n\n<p>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.<\/p>\n\n\n\n<p><strong>Course learning objectives:<\/strong><\/p>\n\n\n\n<ul>\n<li>Model complex robotic systems using Lie group theory.<\/li>\n\n\n\n<li>Study and apply rigid body dynamics on Lie groups for both fixed-base and floating-base manipulators.<\/li>\n\n\n\n<li>Analyze and utilize the mathematical structures of Lie groups and Lie algebras in control applications.<\/li>\n\n\n\n<li>Develop and implement geometric control algorithms for multirotor UAVs, robotic arms, and other mechanical systems.<\/li>\n\n\n\n<li>Integrate theoretical knowledge with hands-on implementation to prepare for advanced research in robotics.<strong><\/strong><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KFUPM SCE 594 Course: Geometric Control of Robotic Systems\" width=\"790\" height=\"444\" src=\"https:\/\/www.youtube.com\/embed\/videoseries?list=PLb-BpOnWHoLYubIzt-8HCMYb9EGsIZUuo\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><strong>Lectures<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Topic<\/td><td>Slides<\/td><td>Recording (Youtube Link)<\/td><\/tr><tr><td>1. Mathematical foundations<\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec1_Topic1.pdf\" title=\"SCE594_Lec1_Topic1\">Lecture 1: Course Introduction<\/a><\/td><td><a href=\"https:\/\/youtu.be\/OqnZjjqzqfU?si=Djp3TZn38yvqC7Cr\" title=\"Lecture 1\">Lecture 1<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec2_Topic1.pdf\" title=\"SCE594_Lec2_Topic1\">Lecture 2: Maps, Groups &amp; Fields<\/a><\/td><td><a href=\"https:\/\/youtu.be\/4c8VMsax3JA?si=3lHB9opqx34AAU14\" title=\"\">Lecture 2<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec3_Topic1.pdf\" title=\"SCE594_Lec3_Topic1\">Lecture 3: Vector Spaces I<\/a><\/td><td><a href=\"https:\/\/youtu.be\/lKW9SuG1KUI?si=BcSRRNdM7rPIYGIE\" title=\"Lecture 3\">Lecture 3<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec4_Topic1.pdf\" title=\"SCE594_Lec4_Topic1\">Lecture 4: Vector Spaces II<\/a><\/td><td><a href=\"https:\/\/youtu.be\/amAwkU_E6kI?si=R_HtHV7Z4DLorfWu\" title=\"\">Lecture 4<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec5_Topic1.pdf\" title=\"SCE594_Lec5_Topic1\">Lecture 5: Manifolds and Lie groups<\/a><\/td><td><a href=\"https:\/\/youtu.be\/IzN6ehDHy5s?si=PKm5D8mUkx-7VOWz\" title=\"\">Lecture 5<\/a><\/td><\/tr><tr><td>2. Rigid Body Modeling<\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec6_Topic2.pdf\" title=\"SCE594_Lec6_Topic2\">Lecture 6: Configuration space of a rigid body<\/a><\/td><td><a href=\"https:\/\/youtu.be\/kt7Y1p6hd3w?si=OJIy2is_7rRKIZWp\" title=\"\">Lecture 6<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec7_Topic2.pdf\" title=\"SCE594_Lec7_Topic2\">Lecture 7: Rigid Body Kinematics<\/a><\/td><td><a href=\"https:\/\/youtu.be\/eCOMiPxbL2A?si=HG5T8X_a6g2VbtWw\" title=\"\">Lecture 7<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec8_Topic2.pdf\" title=\"SCE594_Lec8_Topic2\">Lecture 8: Twists<\/a><\/td><td><a href=\"https:\/\/youtu.be\/tCbyRuWZhak?si=fudB2dZasOOs_lJM\" title=\"\">Lecture 8<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec9_Topic2.pdf\" title=\"SCE594_Lec9_Topic2\">Lecture 9: Rigid body dynamics<\/a><\/td><td><a href=\"https:\/\/youtu.be\/kVI26Noq6Po?si=bHjvfTuizFKEHQbK\" title=\"Lecture 9\">Lecture 9<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec10_Topic2.pdf\" title=\"SCE594_Lec10_Topic2\">Lecture 10: Rigid body dynamics II &amp; MAV dynamics<\/a><\/td><td><a href=\"https:\/\/youtu.be\/h__iwQpfj1Y?si=o30SuTwT4NAQr-cX\" title=\"Lecture 10\">Lecture 10<\/a><\/td><\/tr><tr><td>3. Fixed-base manipulator modeling<\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec11_Topic3.pdf\" title=\"SCE594_Lec11_Topic3\">Lecture 11: Forward Kinematics<\/a><\/td><td><a href=\"https:\/\/youtu.be\/FE89yJ8TPc8?si=9XNu29acdoQ0CzeF\" title=\"Lecture 11\">Lecture 11<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec12_Topic3.pdf\" title=\"SCE594_Lec12_Topic3\">Lecture 12: Velocity Kinematics<\/a><\/td><td><a href=\"https:\/\/youtu.be\/7_hhLglvUrc?si=DyJZ_jObr5LNwPDN\" title=\"\">Lecture 12<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec13_Topic3.pdf\" title=\"SCE594_Lec13_Topic3\">Lecture 13: Dynamics of Fixed-base Manipulators I<\/a><\/td><td><a href=\"https:\/\/youtu.be\/Anwhyznhnbg?si=h6o8X003y5Fs8Z61\" title=\"\">Lecture 13<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec14_Topic3.pdf\" title=\"SCE594_Lec14_Topic3\">Lecture 14: Dynamics of Fixed-base Manipulators II<\/a><\/td><td><a href=\"https:\/\/youtu.be\/JlIU84dCPmw?si=xRYmDSZAMMbtXdlV\" title=\"\">Lecture 14<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec15_Topic3.pdf\" title=\"SCE594_Lec15_Topic3\">Lecture 15: Dynamics of Fixed-base Manipulators III<\/a><\/td><td><a href=\"https:\/\/youtu.be\/DvrpNS8z4Ns?si=58bUbVIXFafX9cne\" title=\"\">Lecture 15<\/a><\/td><\/tr><tr><td>4. Stability and control of mechanical systems<\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec16_Topic4.pdf\" title=\"SCE594_Lec16_Topic4\">Lecture 16: Stability Notions<\/a><\/td><td><a href=\"https:\/\/youtu.be\/ClJPWX8y4VU?si=SOIO98xqBj9gQ4zn\" title=\"Lecture 16\">Lecture 16<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec17_Topic4.pdf\" title=\"SCE594_Lec17_Topic4\">Lecture 17: Fundamentals of Lyapunov theory<\/a><\/td><td><a href=\"https:\/\/youtu.be\/SH5KvH1GpMg?si=K_bzy9DfmvsuiQwK\" title=\"Lecture 17\">Lecture 17<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec18_Topic4.pdf\" title=\"SCE594_Lec18_Topic4\">Lecture 18: Lyapunov\u2019s direct method II<\/a><\/td><td><a href=\"https:\/\/youtu.be\/kEpRBqbXbXI?si=SxaiFVOqXojqgQ69\" title=\"Lecture 18\">Lecture 18<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec19_Topic4.pdf\" title=\"SCE594_Lec19_Topic4\">Lecture 19: Lyapunov\u2019s direct method II<\/a><br><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec19_Notes.pdf\" title=\"SCE594_Lec19_Notes\">Lecture 19 Notes<\/a><\/td><td><a href=\"https:\/\/youtu.be\/_hrhMmirXRo?si=GUyfLQE66teaXAkt\" title=\"Lecture 19\">Lecture 19<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec20_Topic4.pdf\" title=\"SCE594_Lec20_Topic4\">Lecture 20: Geometric PD ControlI<\/a><\/td><td><a href=\"https:\/\/youtu.be\/1QpZnJuxK1M?si=A_jI6891icy6jQ0h\" title=\"Lecture 20\">Lecture 20<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec21_Topic4.pdf\" title=\"SCE594_Lec21_Topic4\">Lecture 21: Geometric PD Control II<\/a><br><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec21_Notes.pdf\" title=\"SCE594_Lec21_Notes\">Lecture 21 Notes<\/a><\/td><td><a href=\"https:\/\/youtu.be\/Jf8N9QutKWA?si=q9PHq6o2a9r6CZ3d\" title=\"Lecture 21\">Lecture 21<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec22_Topic4.pdf\" title=\"SCE594_Lec22_Topic4\">Lecture 22: Geometric PD Control III<\/a><br><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec22_Notes.pdf\" title=\"SCE594_Lec22_Notes\">Lecture 22 Notes<\/a><\/td><td><a href=\"https:\/\/youtu.be\/VgAPo75xH_s?si=LHbYwbUF2l5wLO3s\" title=\"Lecture 22\">Lecture 22<\/a><\/td><\/tr><tr><td>5. Control of Fixed-Base Manipulators<\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec23_Topic5.pdf\" title=\"SCE594_Lec23_Topic5\">Lecture 23: Motion Control<\/a><br><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec23_Notes.pdf\" title=\"SCE594_Lec23_Notes\">Lecture 23 Notes<\/a><\/td><td><a href=\"https:\/\/youtu.be\/DgCcXSpEHTo?si=lSnB7WtA-DnvuM36\" title=\"Lecture 23\">Lecture 23<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec24_Topic5.pdf\" title=\"SCE594_Lec24_Topic5\">Lecture 24: Impedance Control I<\/a><\/td><td><a href=\"https:\/\/youtu.be\/FP1YkCLmpn4?si=LnBwyj46Tlsz7MrI\" title=\"\">Lecture 24<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec25_Topic5.pdf\" title=\"SCE594_Lec25_Topic5\">Lecture 25: Impedance Control II<\/a><\/td><td><a href=\"https:\/\/youtu.be\/uhEgkv1-neQ?si=JljeljRn8Ywma291\" title=\"\">Lecture 25<\/a><\/td><\/tr><tr><td><\/td><td><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec26_Topic5.pdf\" title=\"SCE594_Lec26_Topic5\">Lecture 26: Floating-base Manipulators<\/a><br><a href=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2025\/08\/SCE594_Lec26_Notes.pdf\" title=\"SCE594_Lec26_Notes\">Lecture 26 Notes<\/a><\/td><td><a href=\"https:\/\/youtu.be\/pwdeES93TU8?si=qT4e4bu22NwHq2eA\" title=\"\">Lecture 26<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>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 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"om_disable_all_campaigns":false,"ub_ctt_via":"","_mi_skip_tracking":false,"footnotes":""},"aioseo_notices":[],"featured_image_src":null,"_links":{"self":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/pages\/45"}],"collection":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/comments?post=45"}],"version-history":[{"count":9,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/pages\/45\/revisions"}],"predecessor-version":[{"id":1048,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/pages\/45\/revisions\/1048"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=45"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}