Robotics I - THEORY

Kinematics, Dynamics and Control of Robotic Manipulators

• Foundations
  • Rigid bodies and homogeneous transformations
  • Robot Modelling
• Kinematics
  • Direct Kinematics
  • Inverse Kinematics
  • Trajectory Planning
  • Jacobians
  • Inverse Kinematics Algorithms
  • Singularities and redundancy
  • Statics and Manipulability
• Dynamics
  • Lagrange formulation
  • Properties of the dynamic model
  • Dynamic parameters identification
  • Dynamic model of simple manipulator structures
• Control
  • The control problem
  • Decentralized motion control
  • Feed-forward compensation
  • Centralized motion control
  • Force control
  • Visual servoing