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 SC1200: Modern Robotics ECTS: 5 Responsible Instructor: Dr. G.A. Delgado Lopes Contact Hours / Week x/x/x/x: 0/0/0/4 Education Period: 4 Start Education: 4 Exam Period: 4 Course Language: English Course Contents: This course is taught by prof.dr.ir. S. Stramigioli via telecolleges (video conference).The goal of the course is 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. Study Goals: Introduction to the field of Robotics Mathematical Background Matrix algebra Intuitive ideas of manifolds, Riemann manifolds, Lie brackets,groups and Lie groups. Rigid Bodies 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 energyDynamics of a mechanism in Lagrangian terms Robot Control Trajectory Generators Position and Force Control Control of Interaction.Course description:Introduction to the field of RoboticsMathematical BackgroundMatrix algebraIntuitive ideas of manifolds, Riemann manifolds, Lie brackets,groups and Lie groups.Rigid Bodies motionsRotation representations:Euler angles, Quaternions, SO(3)Complete motions: SE(3) and introduction to screw theory.KinematicsDirect and Inverse kinematics Differential kinematics: JacobianDynamicsRigid bodies dynamics3D springs and Remote center of stiffnessDissipation of free energyDynamics of a mechanism in Lagrangian termsRobot ControlTrajectory GeneratorsPosition and Force ControlControl of Interaction Education Method: Lectures Books: A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry. Assessment: Exam: Test weight 1Minimum grade 5.5 Contact: prof.dr.ir. S. Stramigioli,s.stramigioli@utwente.nl