Robotics 1
Course title: Robotics 1
Code: FEIT01L004
Number of credits (ECTS): 6
Weekly number of classes: 2+2+1+0
Prerequisite for enrollment of the subject: None
Course goals/Competences: Ability to model and design basic robotic systems
Total available number of classes: 180
Curriculum: Introduction to robotics: History of robotics, Robot components, Classification and examples of robots. Architecture and characteristics of the basic robot components. Coordinate frames and transformations. Robot kinematics: Matrix representation, Homogeneous transformation matrices, Representation of transformations, Oiler angles and parameters, Forward kinematics, Denavit-Hartenberg representation of forward kinematic, Inverse kinematic. Differential motions and velocities. Robot dynamics: Forces and torques, Dynamics of translations and rotations. Newton-Oiler robot equations, Lagrangian dynamics of robots. Trajectory planning. Robot control: open and close loop control, basic control scheme, actuators and sensors in robotics control systems. Modeling and simulation of robots in MATLAB and Simulink.
Literature:
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Literature |
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Compulsory literature |
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No. |
Author |
Title |
Publisher |
Year |
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1 |
Saeed B. Niku |
Introduction to robotics: analysis, systems, applications |
Prentice-Hall, NJ |
2011 |
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2 |
M. W. Spong, S. Hutchinson, M. Vidyasagar |
Modelling and Control of Robot Manipulators |
Wiley |
2005 |
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3 |
John J. Craig |
Introduction to Robotics: Mechanics and Control (3rd Edition) |
Prentice Hall |
2003 |
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Further literature |
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No. |
Author |
Title |
Publisher |
Year |
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1 |
Mark W. Spong, M. Vidyasagar |
Robot Dynamics and Control |
Wiley |
1989 |
