Robotics 1

Course title: Robotics 1

Code: 3ФЕИТ01Л018

Number of credits (ECTS): 6

Weekly number of classes: 2+2+1+0

Prerequisite for enrollment of the subject: None

Course Goals (acquired competencies): Introduction to kinematics and dynamics of robot manipulators and acquiring the necessary skills to analyze and build simple robotic systems.

Total available number of classes: 180

Course Syllabus: 1. Introduction: definitions, history, applications, robot classification, components, degrees of freedom, robot configurations, robot reference frames and work space. 2. Robot manipulator kinematics:  representation of a point, a vector, a frame and a rigid body  in space, representation of transformations, robot forward kinematics, DH parameters and models of robot manipulators, inverse robot kinematics. 3. Differential motions and velocities, robot manipulator Jacobian, differential motions of frames. 4. Robot manipulator dynamics: Lagrangian mechanics, robot manipulator dynamic model, static force analysis of robot manipulators, transformation of forces and moments between coordinate frames. 5. Trajectories planning: joint-space trajectory planning, Cartesian-space trajectories.

Literature: