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 Course module: 191211060
 191211060Modern Robotics
 Course info Schedule
Course module191211060
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact personprof.dr.ir. S. Stramigioli
E-mails.stramigioli@utwente.nl
Lecturer(s)
 Examiner dr. F. Califano Examiner prof.dr.ir. A. Franchi Examiner prof.dr. F.P. Schuller Examiner prof.dr.ir. S. Stramigioli Contactperson for the course prof.dr.ir. S. Stramigioli
Starting block
 2A
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
 Aims
 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.
 Content
 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 Assessment Practical (Pass/Fail - 0%) Written exam (100%)
Assumed previous knowledge
 Mandatory: Linear Algebra
 Participating study
 Master Electrical Engineering
 Participating study
 Master Systems and Control
Required materials
-
Recommended materials
Book
 A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry
Instructional modes
Lecture
 Presence duty Yes

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