ECTS
4 credits
Component
Faculty of Science
Description
The module will cover the following:
- Introduction to robotics: history, types of robots, serial and parallel mechanisms, applications
- Components (sensors and actuators)
- Generation of trajectories (in the articular and operational spaces)
- Geometric models direct/inverse, Kinematic model direct/inverse
- Kinematic control and singularities
- Problems and applications in mobile robotics
- Non-autonomous models: unicycle, bicycle, car
- Sensors and odometry
- Localization by rangefinder and data fusion (Kalman filter)
- Mapping (homogeneous transformations and ICP)
- Navigation (pose control, path following)
Practical work: implementation of the acquired knowledge on a real robot (either a manipulator arm or a robot with wheels), ROS programming with git and python.
Objectives
- Master the fundamentals of manipulative and wheeled mobile robotics
- To be able to design, then realize control algorithms on a real robot (either manipulator arm or wheeled robot).
Necessary pre-requisites
- Automatic multivariate
- Linear regression (least squares and pseudoinverse)
- Signal processing
- Python programming
Recommended prerequisites*:
- Non-linear control concepts
- C++ Programming
Additional information
CM : 27h
TP : 6h