Kies de Nederlandse taal
Course module: 191211060
Modern Robotics
Course info
Course module191211060
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact S. Stramigioli
dr. F. Califano
Examiner A. Franchi
F.P. Schuller
Contactperson for the course S. Stramigioli
Examiner S. Stramigioli
Academic year2022
Starting block
RemarksOnly for students who need to re-take the exam from last year.
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes

This course is offered one last time in the academic year 22-23 for those who need to re-take the exam.

All others: please refer to the new course 202200101 Modelling, Dynamics and Kinematics.

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.  

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

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

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
A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry
Instructional modes
Self study without assistance
Presence dutyYes

Written exam and Practical

Kies de Nederlandse taal