SluitenHelpPrint
Switch to English
Cursus: 191211060
191211060
Modern Robotics
Cursus informatieRooster
Cursus191211060
Studiepunten (ECTS)5
CursustypeCursus
VoertaalEngels
Contactpersoonprof.dr.ir. S. Stramigioli
E-mails.stramigioli@utwente.nl
Docenten
Examinator
dr. F. Califano
Examinator
prof.dr.ir. A. Franchi
Examinator
F.P. Schuller
Examinator
prof.dr.ir. S. Stramigioli
Contactpersoon van de cursus
prof.dr.ir. S. Stramigioli
Collegejaar2021
Aanvangsblok
2A
AanmeldingsprocedureZelf aanmelden via OSIRIS Student
Inschrijven via OSIRISJa
Cursusdoelen
To get a basic knowledge on how to model 3D multi-body systems and control them.
Inhoud
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%)
Voorkennis
Mandatory: Linear 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
AanwezigheidsplichtJa

Opmerking
Video Lectures and Q& A sessions
Toetsen
Written exam and Practical

SluitenHelpPrint
Switch to English