Basics of robotics for manipulation

Summary

This course introduces the basics of robotics for manipulation. The aspects concerning robot architectures (Serial , Parallel and Cartesian), sensors, kinematics and dynamic modelling and control are presented. Each of these theoretical topics is i concern with a industrial context.

Content

Keywords

Robotics, Modeling, Kinematics, Dynamics, Control

Learning Prerequisites

Recommended courses

Control theory

Learning Outcomes

By the end of the course, the student must be able to:

• Choose or select robot, actuators and sensors
• Use knowledge in kinematics
• Design a robotc controller
• Apply theoretical knowledge (measurement, dynamics and kinematics) to robotics
• Optimize the design of a robot
• Establish different robot models (kinematics and dynamics)

Transversal skills

• Give feedback (critique) in an appropriate fashion.
• Access and evaluate appropriate sources of information.
• Manage priorities.
• Evaluate one's own performance in the team, receive and respond appropriately to feedback.
• Plan and carry out activities in a way which makes optimal use of available time and other resources.

Teaching methods

Course ex cathedra + exercices

Assessment methods

written exam

Supervision

Resources

Bibliography

Lecture notes- available in PDF - on moodle

Moodle Link

• https://go.epfl.ch/MICRO-450