Kies de Nederlandse taal
Course module: 202200101
Modelling, Dynamics, and Kinematics
Course info
Course module202200101
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact persondr. F. Califano
dr. F. Califano
Contactperson for the course
dr. F. Califano
Examiner S. Stramigioli
Academic year2022
Starting block
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
To get a basic knowledge about physical, energy based modelling and specifically its application to rigid multibody mechanisms with the introduction of coordinate free methods for kinematics and dynamics.
Goal: To give the students a basic knowledge on how energy based physical modeling is and how this can be used to model 3D multi-body systems and control them. The presented techniques are the state of the art on physical modeling and 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.

Physical Modeling
Energy decomposition of a physical system: why and how.
Energy ports and Bond Graphs and the reason for their usefulness in physical modeling.

Rigid Body motions
Direct and Differential kinematics

Euler-Lagrange Modeling, Rigid bodies dynamics

Robotic systems
General dynamic model of manipulators, Modeling the interaction with an environment 

Simulations of multi-physical systems.

Practical (Pass/Fail - 0%)
Written exam (100%)

There will be NO Video Lectures and NO extra Q& A sessions: questions can be asked at the beginning of each lecture and therefore it is mandatory to be present for properly passing the course.
Assumed previous knowledge
Mandatory: Linear Algebra
Participating study
Master Electrical Engineering
Participating study
Master Systems and Control
Participating study
Master Robotics
Required materials
Recommended materials
Murray, Li, Sastry; A Mathematical Introduction to Robotic Manipulation, 1st Ed 1994, CRC Press, ISBN 9781315136370
Instructional modes
Presence dutyYes

NO Video Lectures and NO extra Q& A sessions
Written exam and Practical

Written exam with evaluation and Practical Assignments without evaluation

Kies de Nederlandse taal