• Introduction
• Degrees of Freedom (DOFs)
• Kinematic chain of rigid body mechanisms
• Six DOFs Robot
• Forward kinematics
• Position and orientation
• Linear and angular velocity
• Jacobian
• Orientation vectors (a,n,s)
• Inverse kinematics
• Kinematic decoupling
• Position and orientation
• Velocity and acceleration
• Trajectory planning
• Force feedback
• Haptic devices
• Gravitational compensator
• Designing virtual objects

Documents

Slides

Laboratory

Bibliography

• M. Spong and M. Vidyasagar. Robot Dynamics And Control. 1989. John Wiley Sons.
• J.J. Craig. Introduction to Robotics. Mechanics And Control. 1986. Addison-Wesley Publishing Company, Inc.
• R.M. Murray, Z. Li and S.S. Sastry. A Mathematical Introduction to Robotic Manipulation. 1994. CRC Press, Inc.

Groups list

Deliverables

September

• 09/09/2025: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
• 16/09/2025: Trajectory planning. Laboratory*
• 23/09/2025: Deliverable D1 (8:59)
• 23/09/2025: Laboratory*

October

• 07/10/2025: Haptic devices. Laboratory*
• 07/10/2025: Deliverable D2 (8:59) To be confirmed
• 14/10/2025: Laboratory*
• 21/10/2025: Laboratory*
• 28/10/2025: Exo-Laboratory*
• 30/10/2025: Deliverable D3 (12:59) To be confirmed

* This laboratory could be extended during the afternoon.