Basics of robotics for manipulation
Caution, these contents corresponds to the coursebooks of last year
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
- Courses: 3 Hour(s) per week x 14 weeks
- Type: mandatory
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: mandatory
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Basics of robotics for manipulation
- Courses: 3 Hour(s) per week x 14 weeks
- Type: optional