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Introduction
Nonlinear robot control systems and their design and analysis are essential in robot dynamic systems. Therefore, it is important to learn advanced nonlinear robot manipulators and their control systems. The objective of this course is to introduce learners with advanced topics in nonlinear control of robot manipulators. The focus is to provide learners with the knowledge and skills in design and analysis of nonlinear robot control systems. This course also covers hybrid position and force control in order to provide a comprehensive understanding of the topic.
This course is part of:
- Graduate Certificate in Computer Control and Automation
- FlexiMasters in Computer Control and Automation
Upon completion, learners should:
1.Able to obtain the robot dynamic equations using Lagrange-Euler equations;
2. Able to design nonlinear controllers for robot manipulators and;
3. Able to understand the effects of control gains on the performance of the robot system.
Robot Dynamics. Nonlinear control method: Performance specifications; Control law partitioning; Hybrid Position and Force control.
Standard Course Fee: S$1,620
SSG Funding Support | Course fee payable after SSG funding, if eligible under various schemes | ||
Fee BEFORE funding & GST | Fee AFTER funding & 8% GST | ||
Singapore Citizens (SCs) and Permanent Residents (PRs) (Up to 70% funding) | S$1,500.00 | S$486.00 | |
Enhanced Training Support for SMEs (ETSS) | S$186.00 | ||
SCs aged ≥ 40 years old | |||
• NTU/NIE alumni may utilise their $1,600 Alumni Course Credits. Click here for more information.
| COURSE TITLE | ACADEMIC UNIT |
| CET715 Discrete Time System Modelling and Analysis | 1 |
| CET716 State-Space Design Methods | 1 |
| CET717 Optimal Control, Design and Implementation of Digital Controllers | 1 |
| CET718 Linear and Nonlinear Programming | 1 |
| CET719 Random Processes and Queuing Models | 1 |
| CET720 Decision Analysis | 1 |
| CET721 Robot Kinematics | 1 |
| CET723 Robotic Sensing and Sensors | 1 |
| CET724 Image Processing for Vision | 1 |
| CET725 Pattern Recognition and Stereo Vision | 1 |
| CET726 Three-dimensional computer vision | 1 |
| CET727 Process modelling | 1 |
| CET728 Model predictive control | 1 |
| CET729 Multivariable process control | 1 |
Listed courses are:
- Credit-bearing and stackable to Graduate Certificate in Computer Control and Automation (total 9AUs) and FlexiMasters in Computer Control and Automation (total 15AUs)
- SSG funded and SkillsFuture Credit approved
