This project explores the wonderful world of robot control, from robot manipulator kinematics and dynamics, to position and force control. It was the final project of the course Robot Control taught by Prof. Bruno Siciliano at the Università degli Studi di Napoli “Federico II”. The PDF of the project report can be downloaded here. The document contains several videos, which try to convey the beauty of robot control algorithms. They can be visualized using Okular available for Linux distributions and Adobe Acrobat for Windows.
A teaser is shown in the video below.