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Modeling and Control of Robots

Language

English

Course format On-site
Date 2021-01-11 - 2021-05-07

An overview over different types of manipulators.

Kinematics: description of position and orientation of rigid bodies, the Denavit-Hartenberg convention, forward and inverse kinematics, the velocity transformations, singularities, kinematics for vehicles.

Dynamics: dynamics of rigid bodies, reference frames in relative motion, equations of motion for manipulators and vehicles in closed and recursive form, elasticity.

Motion Planning: point-to-point motions, interpolation and path primitives, localization of robots, mapping a robot environment.

Control: feedback linearization, passivity based controllers, position and force control.

Learning outcomes

The course gives the foundation for developing robotic systems and designing manipulators. It provides comprehensive discussion of problems of service robotics and tasks encountered in outdoor environment. Applications are industrial robots, remotely operated manipulators for space and under water operations, service robots in unstructured environment.

Prerequisites

Recommended previous knowledge

TTK4105 Control Systems, TTK4150 Nonlinear Control Systems or equivalent.

Files/Documents

ISCED Categories

Machinery and operators