Competencies and objectives


Course context for academic year 2024-25

The subject Robot Control focuses on the study of the different techniques used to control the movement of robots. This course develops concepts that are studied in previous subjects such as Control Engineering, Mechanisms and Robot Modeling and Basics of Automatic, applying them to the design, stability study and implementation of robotic controllers. Any robotic system would be useless if you can not control the way it is positioned in its workspace. For this purpose, this subject studies various types of kinematic and dynamic controllers, always highlighting the advantages and disadvantages of their use, both theoretically and practically. In addition, sensory control techniques such as visual servoing or force control are described, which allow the robot to interact with its environment, rather than always working in fully structured environments. Many of the control techniques that are studied in the subject extend and specialize for other types of robots, such as mobile robots, unmanned aerial vehicles, submarine robots, parallel robots, flexible robots, etc. This subject consolidates the techniques of low level control that soon will be extended, in a more specific way, in subjects of fourth year of the Degree of Robotic Engineering, like Robot Manipulators, Mobile Robots, Service Robots , Teleoperation or Multirobot systems.



Course content (verified by ANECA in official undergraduate and Master’s degrees) for academic year 2024-25

General Competences (CG)

  • CG2 : Capacitat d'utilitzar eines informàtiques per al modelatge, la simulació i el disseny d'aplicacions d'enginyeria.
  • CG5 : Ser capaç d'obtenir i analitzar informació sobre les característiques de materials, circuits, elements de màquines, control automàtic, sensors i sistemes informàtics, amb la finalitat última d'aconseguir aplicacions robòtiques autònomes i flexibles.


Specific Competences (CE)

  • CE16 : Tenir capacitat per a abordar problemes de cinemàtica i dinàmica associats al disseny, construcció i anàlisi de robots. Saber utilitzar i dissenyar algorismes per a generar les trajectòries de moviment, amb suficient precisió, per a posicionar adequadament diversos tipus de robots.
  • CE22 : Ser capaç d'aplicar les tècniques de control cinemàtic i dinàmic, la planificació i programació de robots i altres sistemes d'automatització associats en diferents situacions.


Transversal Competences

  • CT1 : Capacitats informàtiques i informacionals.
  • CT2 : Ser capaç de comunicar-se correctament tant de forma oral com escrita.
  • CT3 : Capacitat d'anàlisi i síntesi.
  • CT4 : Capacitat d'organització i planificació.




Learning outcomes (Training objectives)

No data



Specific objectives stated by the academic staff for academic year 2024-25

  • To know the purpose and functions of a robot controller.
  • To know the difference between a kinematic controller and a dynamic controller, as well as its applications.
  • To know the hierarchical structure of a control unit.
  • To know the main strategies of interpolation of trajectories in the joint and Cartesian space.
  • To know the conditions required for correct positioning using kinematic controllers.
  • To know how to define kinematic controllers using as an error a joint position or a Cartesian.
  • To know the conditions in which it is convenient an independent joint dynamic control or decentralized dynamic control.
  • To be able to determine the most appropriate controller to develop a dynamic control.
  • To perform the adjustment of the dynamic controllers.
  • To know the applications of visual servoing.
  • To be able to distinguish the best visual controller for a given application.
  • To know the applications of force control.
  • To know the operating principle of the main force control systems.
  • To know the principle of operation of the control architecture in autonomous robots.
  • To know how to apply the controllers described in the course for the control of mobile robots and drones.
  • To know the components of the robots control architecture in different areas.
  • To motivate students in research and in the usefulness and application of robot control systems.




Code: 33729
Lecturer responsible:
Credits ECTS: 6,00
Theoretical credits: 1,20
Practical credits: 1,20
Distance-base hours: 3,60

Departments involved

    Theoretical credits: 1,2
    Practical credits: 1,2
    This Dept. is responsible for the course.
    This Dept. is responsible for the final mark record.

Study programmes where this course is taught