Fundamentals of Robotics

The module will cover the following topics:

• Introduction to Robotics: History, Types of Robots, Serial and Parallel Mechanisms, Applications
• Components (sensors and actuators)
• Trajectory Generation (in the Articular and Operational Spaces)
• Direct/inverse geometric models, direct/inverse kinematic models
• Kinematics and Singularities
• Issues and Applications in Mobile Robotics
• Non-holonomic models: unicycle, bicycle, car
• Sensors and Odometry
• Localization using a rangefinder and data fusion (Kalman filter)
• Mapping (Homogeneous Transformations and ICP)
• Navigation (course control, path tracking)

Hands-on exercises: applying what you've learned to a real robot (either a robotic arm or a wheeled robot), ROS programming with Git and Python.

• Master the fundamental concepts of manipulation robotics and wheeled mobile robotics
• Be able to design and then implement control algorithms on a real robot (either a robotic arm or a wheeled robot).

• Multivariable Automatic Control
• Linear Regression (Least Squares and Pseudoinverse)
• Signal Processing
• Python Programming

Recommended prerequisites*:

• Concepts of Nonlinear Control
• C++ Programming

CM: 27 hours

Practical training: 6 hours