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, we will introduce you to the fundamentals of sensor fusion for automotive systems. Key concepts involve Bayesian statistics and how to recursively estimate parameters of interest... more
In this course you’ll learn how to improve your project management communication in your work environment and motivate and engage communities with clear communication to address complex e... more
Desert regions may seem optimal for solar energy and the deployment of photovoltaic (PV) applications. However, the heat and dust experienced in the region poses a challenge for the optimal... more
This course provides an introduction to data analytics for individuals with no prior knowledge of data science or machine learning. The course starts with an extensive review of probability theory... more
It’s a perfect storm. Limited food, water and energy unequally spread between an expanding population, and a warming climate as the bitter icing on the cake. In all these global challenges n... more