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To get a basic knowledge on how to model 3D multi-body systems and control them.
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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%)
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