Overview

This course explores the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling in robotics, focusing on the intelligent connection between perception and action. It covers the essential roles of modeling and control in both industrial and advanced field/service robots. Key topics include kinematic models of robot manipulators and mobile robots, the use of the Jacobian for differential kinematics, singular configurations, redundancy analysis, statics models, and inverse kinematics algorithms. Students will learn to derive equations of motion for robotic systems and apply model-based control for trajectory tracking in joint or operational spaces. The course also addresses force and visual control techniques for environmental interactions, parameter estimation methods, nonholonomic constraints for mobile robots, and solutions for trajectory tracking and posture regulation.

Syllabus

Foundations and Applications of Robotics

In this module, you'll be introduced to the foundational concepts of robotics, including the basics of robots, manipulators, and mobile robots. You'll also explore industrial robotics and the emerging field of advanced robotics, focusing on field and service robots. This comprehensive overview sets the stage for your journey into both traditional and cutting-edge robotics applications.

Orientation and Kinematics in Robotics

This module covers essential concepts in robotics, including various methods for representing orientation such as rotation matrices, minimal representations, and four-parameter representations. Additionally, it explores direct kinematics through topics like homogeneous transformations, the Denavit-Hartenberg convention, and the kinematics of typical manipulator structures.

Advanced Robotics Kinematics: Inverse and Jacobian Analysis

This module covers essential topics in robotics, including inverse kinematics for solving the motion of robotic arms and manipulators with spherical wrists. It also explores the Jacobian matrix, covering its geometric interpretation, link velocities, and methods for computation, crucial for understanding robot motion and control.

Advanced Robotics Kinematics: Differential and Inverse Analysis

This module delves into advanced topics in robotics kinematics. It covers differential kinematics, including kinematic singularities, inverse differential kinematics, and the analytical Jacobian. Additionally, it explores inverse kinematics algorithms, focusing on closed-loop solutions, orientation error handling, and the application of second-order algorithms with numerical outcomes.

Robotics: Statics and Dynamics Formulation

This module explores fundamental concepts in robotics statics and dynamics. Topics include kineto-statics duality and manipulability ellipsoids in statics, and the Lagrange formulation covering kinetic and potential energy, equations of motion, and dynamic model properties.

Advanced Robotics Dynamics and Formulation

This module explores advanced concepts in robotics dynamics and formulations. Topics include the dynamic model of a two-link planar arm, operational space dynamic models with dynamic manipulability ellipsoids, and the Newton-Euler formulation covering balance of forces and moments, recursive algorithms, and direct and inverse dynamics calculations.