Background and Related Work

• Phases of Building a Robot
• Robot Modules and Parameters
  • Forward Kinematics
  • Inverse Kinematics
  • Dynamics
  • Trajectory Generation
• Linear Feedback Control
  • Local PD Feedback Control
  • Continuous vs. Discrete Time Control
  • Disturbance Rejection
• Speed Considerations
  • Types of Inputs
  • Desired Frequency of the Control System
  • Error Analysis
• Optimal Design of Robot Manipulators
• Integration of Heterogeneous Systems