URL study guide
https://tue.osiris-student.nl/onderwijscatalogus/extern/cursus?cursuscode=4DC00&collegejaar=2025&taal=enOmschrijving
This course provides an introduction to the modeling, analysis, and control of robotic systems, with special emphasis on robot manipulators.. Robotic systems have become pervasive in many parts of our society; examples are manufacturing robots in factories, health care (surgical) robots, robots used for surveillance and security, soccer playing robots, mobile robots on Mars, and many more. The appropriate description of the kinematics and dynamics is a key feature when studying this type of systems. The difference between the joint space (related to ``how the robot is built’’) and the task space (related to ``what the robot is supposed to do’’) unavoidably lead to highly nonlinear kinematic relationships. These nonlinearities make the control of the robot towards a set-point (or tracking a desired trajectory in space) a true challenge. Numerical simulations and practical examples will be used to illustrate these concepts.The topics covered by the course comprise
- Introduction to robotics and its applications
- Kinematics of a robotic system and the Denavit-Hartenberg convention
- Rotation matrices, Euler and Cardan Angles
- Joint ad task spaces, coordinate transformations
- Dynamics of a robotic system, in particular, of a serial manipulator
- State Space Modeling for control
- Control of rigid robots, computed torque method
- Robot-environment contact modeling and basic interaction control
- Simulation of kinematic and dynamic robotic systems
- Derivation of the kinematics and dynamics of a serial manipulator using MATLAB Symbolic Math Toolbox
- Case studies on serial manipulators