# Modern Robotics

## SC42020

5

### Responsible Instructor:

Dr.-Ing. J. Kober (Jens)

0/0/0/4

4

4

4

English

### Course Contents:

This course is taught by prof.dr.ir. S. Stramigioli via telecolleges (video conference).

### Study Goals:

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.
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 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

### Education Method:

Lectures and Practical

### Books:

A Mathematical Introduction to Robotic Manipulation by Murray, Lee and Sastry.

### Assessment:

Exam: Test weight 0.8
Practical: Test weight 0.2

### Remarks:

Old course code: SC1200

### Department:

3mE Department Delft Center for Systems and Control

### Contact:

prof.dr.ir. S. Stramigioli,
s.stramigioli@utwente.nl
© Copyright Delft Center for Systems and Control, Delft University of Technology, 2017.