Manipulation Robotics

This teaching unit covers the techniques and tools required for kinematic and dynamic modeling and control for manipulation robotics. The courses are structured around the following four areas:

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

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

3) Articulation and operational commands in free space

4) Motion control in constrained 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 practical sessions using MATLAB/V-REP tools on various manipulation robots (6- and 7-axis robots) and also on a real humanoid robot called "Poppy." 

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

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 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 addressed in supervised work and practice using MATLAB/V-REP tools on different manipulation robots (6- and 7-axis robots) and also on a real humanoid robot, "Poppy."

The objective of this course is to provide students with basic knowledge of modeling serial industrial robots. This course will cover:

• Rigid transformations and motions
• Geometric/kinematic/dynamic modeling
• Singularity study
• 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. The following topics will be discussed in this course:

• Rigid transformations and movements
• Kinematics, differential kinematics, and dynamic modeling
• 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

Written exam weighting: 70%

Practical work coefficient: 30%

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Coefficient of the written test: 70%

Coefficient of the practical 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 work: 6 p.m.

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Taught lectures: 24 hours

Laboratory Practicals: 18 hours