Robot Kinematics and Dynamics

Higher education teachers: Munih Marko

Subject description

Prerequisits:

Year inscription.

Content (Syllabus outline):

Homogenious transformations of diferential movements (transformation derivative, differential translation and rotation, transformation of differential movements between coordinate systems); Jacobian matrix for manipulator (calculation, geometry and analytical, inverse, singularity, redundancy, J pseudoinverse ); Statics (equvivalent joint torques, transformation of forces and moments, kinematics and statics duality, stiffness); Trajectory generation (interpolation, absolute, incremental interpolator, cubic and higher order polynomials, linear segments with parabolic ends, intermediate points, trajectory defined in external coordinates); Lagrange dynamics of rigid manipulator (calculation of kinetic and potential energy, movement equations); Important properties of dynamic model (Skew-symmetry of matrix N, linearity, notation in external coordinates); Newton-Euler formulation (equilibriaum equations, calculation of kinematic quantities); Examples.

Objectives and competences:

1. Spoznati teoretične osnove diferencialne kinematike, statike, Lagrange in Newton-Euler dinamike.
2. Preveriti medsebojen vpliv veličin z omenjenih področij na realnih mehanizmih v laboratoriju.
3. Dolgoročno: razumevanje podanih relacij in njihova uporaba

Intended learning outcomes:

1. Independence when using tools of differential kinematics and statics. Ability to lay out simple systems individually and more complex systems of movement by using suitable computer tools.
2. Use of tools of differential kinematics and statics in robotics, robot vision and virtual reality environments.
3. Selection of adequate notation, model and description for solving practical problems.
4. Use of knowledge obtained also in other fields of electrical engineering and other fields of engineering. Use in the fields of computer graphics, virtual reality, multimedia, also e.g. rehabilitation robotics.
5. The students are solving practical problems, they obtain skills of group cooperation.

Learning and teaching methods:

Lectures, laboratory practice in smaller groups. In practical exercises are used larger number of modern industrial and other robots. Students have available lecture notes with condensed content of the subject. Invited are guest lectures from Slovenian industry.

Study materials

Readings:

1. L. Sciavico, B. Siciliano: Modeling and Control of Robot Manipulators, The McGraw – Hill Companies, Inc., New York, 2000.
2. L. Sciavico: Modeling and Control of Robot Manipulators: Solutions Manual, The McGraw – Hill Companies, Inc., New York, 1995.
3. H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, S. Thrun: Principles of robot motion, MIT Press, 2005.