Higher education teachers: Mihelj Matjaž
Collaborators: Podobnik Janez
Credits: 6
Semester: summer
Subject code: 64236

Subject description


Enrollment in the first year.

Content (Syllabus outline):

The entire content is divided into three major topics:

  • Control of open kinematic chains (robotic sensors, joint space control and operational space control)
  • Control of closed kinematic chains based on interaction forces (measurement of forces and torques, impedance control, direct force control) and
  • Visual servoing (robot vision sensor, pose computation, computed pose based control and image based control).

Objectives and competences:

  • To understand theoretical basis of control of open and closed kinematic chains and visual servoing.
  • Validation of properties of the chosen control schemes on real robot mechanisms in the Laboratory of robotics.
  • Integration of knowledge gained in courses Introduction to robotics, Kinematics and dynamics of robots and Robot control in functional mechatronic system.

Intended learning outcomes:

Knowledge and understanding:

Knowledge of robot control methods for open and closed kinematic chains as well as visual servoing. Understanding and defining controller parameters for stability. Using knowledge of kinematics, differential kinematics, statics and dynamics for the purposes of controlling industrial robot, haptic interfaces and other mechanical systems. Selection of the right approach and the complexity of control method for the specific mechanism and planned tasks. Problem solving, team work, public presentation of completed work.

Learning and teaching methods:

Lectures, laboratory work in small groups, complex robot control problem solving. Practical exercises take place on a number of modern industrial and other robots equipped with additional force sensors. The students have a textbook “Vodenje robotov” or equivalent English textbook with course content. Invited are guest speakers from the Slovenian industry. In this course, special attention is paid to safety.

Study materials


  1. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics - Modelling, Planning and Control, Springer 2009
  2. J.J. Craig: Introduction to Robotics - Mechanics and Control, Pearson, Prentice Hall, 2005
  3. M.W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, John Wiley&Sons, Inc., 2006

Study in which the course is carried out

  • 1 year - 2nd cycle - Electrical Engineering - Robotics