Fundamentals of Robotics

The module will cover the following points:

• Introduction to robotics: history, types of robots, serial and parallel mechanisms, applications
• Components (sensors and actuators)
• Trajectory generation (in joint and operational spaces)
• Direct/inverse geometric models, direct/inverse kinematic model
• Kinematics control and singularities
• Issues and applications in mobile robotics
• Non-holonomic models: unicycle, bicycle, car
• Sensors and odometry
• Location by rangefinder and data fusion (Kalman filter)
• Mapping (homogeneous transformations and ICP)
• Navigation (positioning control, path tracking)

Practical work: applying acquired knowledge to a real robot (either a manipulator arm or a wheeled robot), ROS programming with Git and Python.

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

• Multivariable automatic
• Linear regression (least squares and pseudoinverse)
• Signal processing
• Python programming

Recommended prerequisites:

• Concepts of nonlinear control
• C++ programming

CM: 27 hours

Practical work: 6 hours