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 Cursus: 191211060
 191211060Modern Robotics
 Cursus informatie Rooster
Cursus191211060
Studiepunten (ECTS)5
CursustypeCursus
VoertaalEngels
Contactpersoonprof.dr.ir. S. Stramigioli
E-mails.stramigioli@utwente.nl
Docenten
 Docent dr. F. Califano Docent prof.dr.ir. A. Franchi Docent F.P. Schuller Contactpersoon van de cursus prof.dr.ir. S. Stramigioli Docent prof.dr.ir. S. Stramigioli
Collegejaar2020
Aanvangsblok
 2A
AanmeldingsprocedureZelf aanmelden via OSIRIS Student
Inschrijven via OSIRISJa
 Cursusdoelen
 body { font-size: 9pt; font-family: Arial } table { font-size: 9pt; font-family: Arial } To get a basic knowledge on how to model 3D multi-body systems and control them.
 Inhoud
 body { font-size: 9pt; font-family: Arial } table { font-size: 9pt; font-family: Arial } 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
Voorkennis
 Mandatory: Lineaire Algebra
 Participating study
 Master Electrical Engineering
 Participating study
 Master Systems and Control
Verplicht materiaal
-
Aanbevolen materiaal
Book
 A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry
Werkvormen
Hoorcollege
 Aanwezigheidsplicht Ja

Opmerking
Video Lectures and Q& A sessions
Toetsen
 Schriftelijk tentamen en practicum
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