Intro Robotics

Assignments: Assig1, Assig2

Course syllabus:

Mechanical modeling:

1. Preliminaries: Orientation representations, Orientation matrix, Quaternions, Euler angels, Pitch-role-yaw representation, Combination of rotations, Homogeneous transformations,

2. Rigid manipulator kinematics: Configuration variables, Forward and inverse kinematics, Velocity kinematics, Angular velocity, Jacobians, Linear algebra preliminaries, Kinematic redundancies, Kinematic singularities,

3. Dynamics: Newton laws of rotation, Angular momentum, Matrix of inertia, Rigid body motion, Generalized Jacobians, Link constrains, Non-minimal multi-link model, Minimal models.

4. Identification methods: offline and online gradient methods,

5. Introduction to mobile robots, velocity constraints, wheeled robot types, maneuverability, steerability, monocycles,

Hardware systems: robotic vision, encoders, resolvers, joint torque sensors, force-moment sensors, velocity sensors, gyros, vision systems, drivers, interface systems, electric actuators, hydraulic actuators,

Trajectory planning: Path planning for manipulators, path planning for mobile robots, sinusoidal steering,

Control: Joint-space control, task-space control, PD control, PD+gravity compensation control, PID control, intelligent-based control,

Special applications: Exoskeleton systems,

Grading: ________________________

Assignments:

Mid exam:

Final Exam:

References: ________________________

1. Robot modeling and control, M. Spong, S. Hutchinson and M. Vidyasagar, John Wiley and sons, 2006

2. Theory of robot control, C. Canudas de Wit, B. Sicilliano and G. Bastin, Springer, 1996

3. Modeling and control of robot manipulators, L. Sciavicol and B. Sicilliano, McGraw Hill, 1996

4. Introduction to Robotics: Mechanics and Control, (3rd edition), John J. Craig, 2003