Advanced robotic applications

• Basic issues
  • Linear algebra
  • Operational space vs. joint space
  • Control issues
• Tutorial T3: Robot modelling, kinematics and differential kinematics
  • Basic commands for representing position and orientation
  • Robot modelling using DH parameters
  • Forward kinematics
  • Inverse kinematics
  • Geometric Jacobian
  • Analytic Jacobian
  • Transforming Velocities between Coordinate Frames
• Practical P3: Advanced teleoperation with the UR3 robot
  • The task
  • Teleoperation mode
  • System implementation
  • EXERCISE
• Motion control
  • The control problem
  • Decentralized control
  • Centralized control
• Visual servoing
  • The visual servoing problem
  • Pose Estimation
  • Position-based visual-servoing
• Tutorial T4: Visual servoing using Matlab
  • The Machine Vision Toolbox
  • The poseEstimation script
  • Position-based visual servoing algorithm
• Practical P4: Position-based visual servoing with the UR3 robot
  • Section 1
  • Section 2
  • Section 3
• Force control
  • Section 1
  • Section 2
  • Section 3
• Tutorial T5: Advance programming with the Universal Robots
  • e-Series Pro Track
• Practical P5: A force control application with the UR3 robot
  • Section 1
  • Section 2
  • Section 3