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Technische Universität München

Multi-sensory Based Robot Dynamic manipulation

Lecturer (assistant)
Gordon Cheng [L]
Emmanuel Carlos Dean Leon
Number 0000001328
Type lecture with integrated exercises
Duration 6 SWS
Term Wintersemester 2017/18
Language of instruction English
Position within curricula See TUMonline
Dates See TUMonline

Dates

Admission information

See TUMonline

Objectives

In this lecture, the student will learn to model serial robots using iterative techniques. The symbolic and close form equations obtained from this process are used to model the Kinematics and Dynamics of a robot. In the second part of the course, the student will learn to use these models to design non-linear control schemes. Additionally, this lecture contains practical sessions where the student will implement several modeling and control examples using Matlab, Simulink and ROS.

Description

Introduction to Robot Modelling (Kinematic and Dynamic modelling).
Denavit–Hartenberg methodology to describe robot joint frames, position and velocity.
Robot Dynamics based on Euler-Lagrange methodology.
Non-linear control for robots (Lyapunov based Analysis).
Model free control.
Model based control (robot regressor approach).
Control in Operational Space.
Impedance control (optional).
Visual Servoing (optional).
The course will be held in English language. The materials will also be in English.

Prerequisites

Strong Mathematical background in Linear Algebra, Trigonometry and Calculus.
Basic knowledge in robotics (preferred).
Basic Knowledge in C++ and ROS
All the exercises will be implemented in Matlab and ROS (ubuntu), please bring your laptop installed with ubuntu (14.04), ROS (Indigo).

Examination

individual tutorial assignments : 40%
group project : 50%
final presentation: 10%

Recommended literature

Peter Corke. Robotics, Vision and Control - Fundamental Algorithms in MATLAB, volume 73 of Springer Tracts in Advanced Robotics. Springer, 2011.
M.W. Spong, S. Hutchinson, and M. Vidyasagar. Robot modeling and control. John Wiley & Sons, 2006.
J.J. Craig. Introduction to robotics: mechanics and control. Addison-Wesley series in electrical and computer engineering: control engineering. Pearson/Prentice Hall, 2005.

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