ECTS
4 credits
Component
Faculty of Science
Description
The module will cover the following:
- Introduction to robotics: history, type of robots, series and parallel mechanisms, applications
- Components (sensors and actuators)
- Trajectory generation (in the articular and operational spaces)
- Direct/Inverse Geometric Models, Direct/Inverse Kinematics Model
- Kinematic control and singularities
- Issues and applications in mobile robotics
- Non-holonomic models: unicycle, bicycle, car
- Sensors and odometry
- Distance finder and data fusion location (Kalman filter)
- Mapping (homogeneous transformations and KPIs)
- Navigation (installation regulation, path tracking)
Practical work: implementation of the skills on a real robot (either manipulator arm or wheeled robot), ROS programming with git and python.
Objectives
- Master the fundamentals of robotic handling and wheeled mobile robotics
- Be able to design and implement control algorithms on a real robot (either a manipulator arm or a wheeled robot).
Necessary prerequisites
- Automatic multivariable
- Linear regression (least squares and pseudoinverse)
- Signal processing
- Python programming
Recommended prerequisites* :
- Non-linear control concepts
- C++ programming
Further information
CM: 27h
Practical work: 6h