Manipulation Robotics

This course covers the techniques and tools required for kinematic and dynamic modeling and control in manipulation robotics. The course content is structured around the following four areas:

1) Modeling of robotic manipulators: homogeneous transformations, direct and inverse geometric models, kinematic modeling, study of singularities

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

3) Articular and operational control in free space

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

Several examples of all these techniques will be covered in tutorials and hands-on exercises using MATLAB and V-REP on various manipulation robots (6- and 7-axis robots) as well as on a real humanoid robot named “Poppy.” 

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This course covers the techniques and tools necessary for kinematic and dynamic modeling and the control of robot manipulators. The lectures are organized around the following four topics:

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

2) Introduction to the dynamics of robot manipulators: Euler-Lagrange formalism, Newton-Euler formalism, algorithms for computing 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, movement generation, application examples.

Several examples of all these techniques will be covered in supervised lab sessions and practical exercises using MATLAB and V-REP tools on various manipulation robots (6- and 7-axis robots) as well as on a real humanoid robot named "Poppy."

The objective of this course is to provide students with a basic understanding of the modeling of mass-produced industrial robots. This course will cover:

• Rigid Transformations and Movements
• Geometric, Kinematic, and Dynamic Modeling
• Singularity Analysis
• Motion Control in Free/Constrained Space
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The objective of this course is to provide students with a basic understanding of the modeling of serial-type industrial robots. Topics covered in this course include:

• Rigid transformations and movements
• Kinematic, differential kinematic, and dynamic modeling
• Singularity Study
• Free and Constrained Movement Control

Contact Hours:

            Lectures taught: 24 hours

            Laboratory Practicals: 18 hours

Matrix Algebra

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• Matrix manipulation
• Linear Algebra

Weight of the written exam: 70%

Weight of the lab: 30%

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Weight of the written test: 70%

Weight of the lab work: 30%

1. Khalil, E. Dombre, Modeling, Identification, and Control of Robots, 2nd edition, Hermes, 1999.
   B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modeling, Planning, and Control, Springer, 2010.

CM: 24 hours

Practical Training: 6:00 p.m.

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Lectures taught: 24 hours

Laboratory Practicals: 18 hours