Handling Robotics

This teaching unit covers the techniques and tools required for kinematic and dynamic modeling and control for handling robotics. Teaching is structured around the following four axes:

1) Robot manipulator modeling: homogeneous transformations, direct and inverse geometric models, kinematic modeling, singularity studies

2) Introduction to the dynamics of robot manipulators: Euler-Lagrange formalism, Newton-Euler formalism, algorithms for calculating dynamics

3) Joint and operational control in free space

4) Motion control in constrained space: interaction models and compliance, position/force control, impedance and admittance control, motion generation, application examples.

Several examples of all these techniques will be covered in tutorials and practical work using MATLAB/V-REP tools on various handling robots (6-axis and 7-axis robots) and also on a real-life humanoid robot "Poppy". 

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This teaching unit covers the techniques and tools necessary for kinematic and dynamic modelling and the control of robot manipulators. The provided lectures are structured around the following four axes:

1) Modelling of robot manipulators: homogeneous transformations, direct and inverse kinematic models, differential kinematic modelling, study of singularities

2) Introduction to the dynamics of robot manipulators: Euler-Lagrange formalism, Newton-Euler formalism, algorithms for the computation of dynamics

3) Joint space and operational space controls in free space

4) Control of movements in constrained space: interaction and compliance models, hybrid position/force control, impedance and admittance control, generation of movement, application examples.

Several examples of all of these techniques will be treated in supervised works and practices using MATLAB / V-REP tools on different manipulation robots (6 and 7 axis robots) and also on a real humanoid robot "Poppy".

The aim of this course is to give students a basic understanding of serial industrial robot modeling. The course covers :

• Transformations and rigid movements
• Geometric/cinematic/dynamic modeling
• Singularity study
• Free space/constrained motion control
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The objective of this course is to provide students with a basic understanding of the modelling of serial type industrial robots. Will be discussed in this course:

• Rigid transformations and movements
• Kinematic, differential kinematic and dynamic modelling
• Singularity study
• Free and constrained movement control

Contact Hours:

            Taught lectures: 24 hours

            Laboratory Practicals: 18 hours

Matrix algebra

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• Matrix manipulation
• Linear algebra

Coefficient of written test: 70%.

Coefficient for practical work: 30%.

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Coefficient of the written test : 70%.

Coefficient of the practical work : 30%

1. Khalil, E. Dombre, Modélisation, Identification et commande des robots, 2nd edition, Hermes, 1999.
   B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2010.

CM : 24h

Practical work: 18h

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Taught lectures: 24 hours

Laboratory Practicals: 18 hours