Robotics Foundations I - Robot Modeling

About this Course

Robotics is commonly defined as the study of the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling. Within this very broad framework, modeling and control play a basic role - not only in the traditional context of industrial robotics, but also for the advanced applications of field and service robots, which have attracted increasing interest from the research community in the last twenty years. Robotics foundations are dealt with in this two-part course. The first part covers robot modelling. Kinematics of robot manipulators is derived using a systematic approach based on the Denavit-Hartenberg convention and the use of homogeneous transformations. The inverse kinematics problem is analyzed and closed-form solutions are found for typical manipulation structures. The Jacobian is then introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and even formulate inverse kinematics algorithms. The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Two approaches respectively based on Lagrange formulation and Newton-Euler formulation are pursued.

Created by: Università degli Studi di Napoli Federico II

Level: Intermediate


Related Online Courses

In this course you will learn how to turn solar cells into full modules; and how to apply full modules to full photovoltaic systems. The course will widely cover the design of photovoltaic... more
¡La logística es el éxito de una compañía! Aprende qué es la logística y cómo puedes utilizarla para lograr las metas de tu organización. La logística fomenta el uso eficiente de herramien... more
Python es uno de los lenguajes de programación más utilizados alrededor del mundo con cerca de 7 millones de usuarios que diariamente aportan herramientas y plugins que complementan la usabilidad d... more
¡La Química Orgánica está en todas partes! Simplemente nos rodea. ¿Te has dado cuenta que nosotros mismos somos Química Orgánica? Las moléculas biológicas son Química Orgánica. En este curso se i... more
Lean Product Portfolios: Beyond Value Stream Mapping is about building and managing products collectively as a portfolio to maximize value creation. It explores these key concepts: ● Customer c... more

CONTINUE SEARCH

FOLLOW COLLEGE PARENT CENTRAL