Robotics I - PRACTICALS

Kinematics, Dynamics and Control of Robotic Manipulators

• Modelling
  • Preliminaries
  • Basic commands for representing position and orientation
  • Robot modelling using DH parameters
  • EXERCISE (Deliverable)
• Kinematics
  • Forward kinematics
  • Inverse kinematics
• Trajectory Planning
  • Trajectories: Interpolation motions
  • Joint-space trajectories
  • Cartesian-space trajectories
• Differential Kinematics
  • Geometric Jacobian
  • Analytic Jacobian
  • Singularities / Manipulability
  • Redundancy
  • EXERCISE (Deliverable)
• Dynamics
  • Equations of motion
  • Inertia Matrix
  • Coriolis Matrix
  • Gravity Term
  • Friction Term
  • Parameterization
  • Dynamic parameters identification
  • Examples
• Control
  • Decentralized control schemes
  • Centralized control schemes
  • EXERCISE (Deliverable)