Robotics I: Analysis - Control - Laboratory
|Flow||S - Signals, Automatic Control and Robotics|
|Category||Obligatory (main flow)|
|Class Hours - Lab Hours||3 - 2|
|Links||Helios, Course's Website|
Introduction to Robotics: Technological aspects, types of robots, application areas. Kinematic analysis of robot manipulators, forward and inverse geometric modeling, differential kinematics, Jacobian matrix, singular configurations, kinematic redundancies.Static analysis of robot manipulators, stiffness and compliance matrix. Dynamic analysis of robot manipulators, Newton-Euler and Lagrange models, dynamic parameter identification. Trajectory planning and control of robots. Linear local joint PID control, nonlinear computed-torque control, force/impedance control and hybrid control of robots. Introduction to adaptive and robust control of robots. Robot programming. Laboratory training: continuous and discrete control of a robot joint, linear and nonlinear control of an articulated inverted pendulum, programming of a robotic cell, programming and control of robotic manipulators (serial linkage 6 DOF manipulator and a SCARA-type robot).