Graduatehttps://www.youtube.com/watch?v=RVTZcOSV2WUEvery FallIntroduction to Robot ModelingThis course introduces basic principles for modeling a robot, including forward and inverse kinematics, velocity kinematics, Jacobians, dynamics, planning, and contact. It primarily considers serial open-chain robots, but also touches on parallel robots, closed chain systems, aerial and mobile robots, hyper- redundant systems, and grasping. The concepts introduced in this course may be subsequently utilized in control and planning courses. After successfully completing this course, students will be able to:
• Create reasonable mathematical models predicting the motion of most robot types.
• Use a mathematical model to determine a robot’s capabilities and analyze its behavior.
• Determine the plant models that will serve as the basis for the design of planners and controllers.
Students should be familiar with following concepts to successfully complete this course.
• Linear algebra
• Partial Derivatives
• Differential Equations
• Basic python programming
• Modeling using SolidWorks (Computer Aided Design software)
Note: Student will be provided with 1 session of SolidWorks training to learn the basics and necessary skills needed to model a robot to complete their project assignments. However, it is highly recommended that students watch some on-line videos to learn basics of modeling using SolidWorks prior to the start of class.
Required Resources:
Robot Modeling and Control
Mark W. Spong, Seth Hutchinson, and M. Vidyasagar
John Wiley & Sons (2006)ISBN-10 0-471-64990-2
Note: There is a free pdf version of this text online, but it differs from the print version in some ways that have caused problems in the past. Please consider acquiring or having access to the print version.
A Mathematical Introduction to Robotic Manipulation
Richard M. Murray, Zexiang Li, S. Shankar SastryCRC Press (1994)
ISBN 0-8493-7981-4 Note: Full text pdf available for free on-lineRobotics
Top