Basics of robotics for manipulation

MICRO-450 / 3 credits

Teacher: Bouri Mohamed

Language: English

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

Reference week

Related courses

Results from graphsearch.epfl.ch.