Online Course

Robot Control Basics

Learn various methods and techniques of modern robot control.

Course overview

This course includes teaching the fundamental bases of control applied in robotics, starting from different control laws and applying different control methods to optimize the output of our systems. Using experimental results gain insights about the influence of each term within a PID controller.

What You Will Learn

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Proportional-Integral-Derivative PID control basics

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How to generate a trajectory through a given set of two or more joint positions

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Multivariable controllers including inverse dynamics and test their response to a sinusoidal set point

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How to apply a desired end-effector force based on feedback from a force sensor

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100% Online

No ROS setup is required. Everything is online.

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Basic Level

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Approx. 18 hours to complete

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Prerequisites

Simulated Robot Used

RRBot

Throughout the course, you will use RRBot to learn and practice every topic in Robot Control

Syllabus

Unit 1: Introduction

In this unit, you will learn the objectives of this course on the control of robotic arms with a focus on its dynamic model, learning methods, and tools.

Unit 2: PID control

In this unit, you will start learning robotics control, including the following topics:

Robot dynamics review
Actuator dynamics
Proportional control
Derivative control
Integral control
PD control
PI control
PID control

Unit 3: Independent joint control

In this unit, you will start learning robotics control including the following topics:

Set-Point Tracking
Trajectory generation

Unit 4: Multivariable control

In this unit, you will learn more about PD control and inverse dynamics, including the following topics:

PD Control revisited. Yes, again, but it is so necessary.
Inverse dynamics.

Unit 5: Force control

In this unit, you will learn about the effects of external forces on the end-effector of a robot, including the following topics:

Jacobian of the manipulator (to apply Force control first you need to know how to calculate the Jacobian of the robot).
Force control and implementation.

Unit 6: Final Project

In this unit, you will finish the final project, where you will apply all learned doing point-to-point control in the 2dof robotic arm.

What our students think

“I have had a great experience with The Construct. I believe much of what I have learned thus far regarding ROS has been from these courses and the concepts behind the implementation of ROS have been helpful even outside of ROS applications.”

Sam Daly

“I’m very happy about working with The Constructsim, it is affordable, it is very comfortable for me, and the tools in the GUI are very useful”

Bladimir Bacca Cortes

“I really liked the learning approach based on projects and practical examples and I found the final project with an actual robot to be very useful and challenging.”

Guillermo Robledo

Course creators

Christian Alberto Chávez Vásquez

ROS Developer. Master’s Degree in Robotics, Automation, and Home Automation. Has worked on ROS projects with navigation, exploration, industrial robotics, and artificial vision.