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Kies de Nederlandse taal
Course module: 191211060
191211060
Modern Robotics
Course infoSchedule
Course module191211060
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact persondr.ir. G.A. Folkertsma
E-mailg.a.folkertsma@utwente.nl
Lecturer(s)
Lecturer
dr.ir. G.A. Folkertsma
Contactperson for the course
dr.ir. G.A. Folkertsma
Lecturer
prof.dr.ir. S. Stramigioli
Academic year2017
Starting block
2B
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
Learning goals
To get a basic knowledge on how to model 3D multi-body systems and control them.
Content
Goal: To give the students a basic knowledge on how to model 3D multi-body systems and control them. The presented techniques are the state of the art on robotics and very powerful tools. They can be used to model, control and analyse complex 3D systems like manipulators, walking machines and flying robots.  

Topics
Introduction to the field of Robotics
Mathematical Background: Matrix algebra, Intuitive ideas of manifolds, Riemann manifolds, Lie brackets,groups and Lie groups.

Rigid Body motions
Rotation representations: Euler angles, Quaternions, SO(3)
Complete motions: SE(3) and introduction to screw theory.
Kinematics: Direct and Inverse kinematics; Differential kinematics: Jacobian

Dynamics
Rigid bodies dynamics; 3D springs and Remote center of stiffness; Dissipation of free energy
Dynamics of a mechanism in Lagrangian terms

Robot Control
Trajectory Generators; Position and Force Control; Control of Interaction  

Practical: the theory will be applied to a 3-DoF robot arm
Assumed previous knowledge
Voorkennis noodzakelijk: Lineaire Algebra
Required materials
-
Recommended materials
Book
A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry.
Instructional modes
Lecture
Presence dutyYes

Remark
Video Lectures and Q& A sessions
Tests
Written exam and Practicum

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Kies de Nederlandse taal