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
Introduction to robotics and applications
- History
- Types of robots
- Fields of applications
- Parallel robots
Modeling
- Solid body kinematics
- Direct and inverse coordinate transformation
- Jacobians
- Dynamics
Basics of robotics control
- Control strategies and overall architecture
- Trajectory generation (interpolation and dynamic profiles)
Components
- Sensors
- Actuators
- Man-machine interface
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
| Office hours | Yes |
| Assistants | Yes |
| Forum | Yes |
Resources
Bibliography
Lecture notes- available in PDF - on moodle
Moodle Link
In the programs
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: mandatory
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: mandatory
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Lecture: 3 Hour(s) per week x 14 weeks
- Type: optional