Basics of Robotics

The module will cover the following:

• Introduction to robotics: history, types of robots, serial and parallel mechanisms, applications
• Components (sensors and actuators)
• Generation of trajectories (in the articular and operational spaces)
• Geometric models direct/inverse, Kinematic model direct/inverse
• Kinematic control and singularities
• Problems and applications in mobile robotics
• Non-autonomous models: unicycle, bicycle, car
• Sensors and odometry
• Localization by rangefinder and data fusion (Kalman filter)
• Mapping (homogeneous transformations and ICP)
• Navigation (pose control, path following)

Practical work: implementation of the acquired knowledge on a real robot (either a manipulator arm or a robot with wheels), ROS programming with git and python.

• Master the fundamentals of manipulative and wheeled mobile robotics
• To be able to design, then realize control algorithms on a real robot (either manipulator arm or wheeled robot).

• Automatic multivariate
• Linear regression (least squares and pseudoinverse)
• Signal processing
• Python programming

Recommended prerequisites*:

• Non-linear control concepts
• C++ Programming

CM : 27h

TP : 6h