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.
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
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.