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

Agriculture is more than waving fields of wheat; our ability to grow food from existing natural resources –and without decimating those resources –is key to sustainably feeding the world. In thi... more
Optomechanics is the study of the interaction between light and mechanical systems which can result in the manipulation of the state of both light and the mechanics. The nature of this interaction... more
Chemistry is the study of the properties, structure, behavior, and reactivity of matter. As the central science, chemistry has connections to fields from physics to biology, from environmental... more
This course looks at how increasing greenhouse gases are warming the climate and what it means to decarbonise - reduce the greenhouse gas intensity of - the power sector. It will also provide a... more
यह एक सही तूफान है। सीमित भोजन, पानी‚ ऊर्जा और असमान रूप से बढ़ती हुई आबादी और केक पर कड़वे टुकड़े के रूप में गर्म जलवायु के बीच फैल रही है। इन सभी वैश्विक चुनौतियों में नाइट्रोजन की प्रमुख भूम... more

CONTINUE SEARCH

FOLLOW COLLEGE PARENT CENTRAL