Alex Robotics

Learning material

           Reinforcement learning and optimal control
        
           Robotics videos (modeling and controls) 
        
           Pyro: An object-based toolbox for robot dynamic simulation, analysis, control and planning. 
        
          Lecture Notes on Robotics 
        
          Controls

Colab Tutorials

The pyro toolbox:

Pyro Tutorial no1
The Dynamic System class and basic functionnality
Pyro Tutorial no2
Creating a custom dynamic class
Pyro Tutorial no3
Closed-loop systems and the controller class
Pyro Tutorial no4
The manipulator robot class

Optimal control:

Optimal control overview
This page introduce various optimal control algorithms for solving a pendulum swing-up task.
LQR vs. Dynamic Programming
This page shows a quick demo of how DP (dynamic programming) can be used for finding global optimal control policy of non-linear systems.
Trajectory optimization
This page shows and exemple of planning an optimal trajectory for a cart-pole swing-up with the direct-collocation method.
Optimal swing-up with a custom cost function
This page allow for quickly modifying the cost function to see how it influences the solution.

Robot arm control:

2 DoF robot controlled with a PID
This page allow for playing with the PID gains and animating the results.
2 DoF robot controlled with a custom controller
This page is a template for implementing and testing controllers for a two-link planar manipulator.
2 DoF robot arm kinematic controllers
This page introduce the concept of controlling the end-effector of a robot when its joint are controlled with velocity set-points.
2 DoF robot arm impedance controllers
This page introduce the concept of impedance control in both the joint-space (angles) and the task-space (x,y,z).
5 DoF robot arm kinematic controllers
This page introduce to the control of redundant manipulators

Classical controls:

PID on a 2nd order system
This page is a template for testing a PID controller on a two-mass-spring-damper system.
Phase Plane Analysis
This page is an interactive tutorial on phase plane analysis for dynamical systems.

UdeS Classes

Robot kinematic : GRO203
Linear algebra : GRO211
Controls : GRO501
Robot differential kinematic and quasi-static controls: GRO640
Robotic : Modeling and Controls - GMC714
Dynamic programming, optimal control and reinforcement learning: (GMC705 - Advanced topic class)