Control and Robotics in Medicine
News
- 28/08/2023 - The course starts September 5th.
- 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
- Kinematics (28/08/23)
- Trajectory Planning (05/09/23)
- Haptic systems (26/09/23)
Slides
- Introduction to the course (05/09/23)
- Kinematics (05/09/23)
- Trajectory Planning (12/09/23)
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
-
Group list (11/09/23)
- Group schedule D2 (11/09/23)
- Group schedule D3 (26/09/23)
Deliverables
- D1. Forward and inverse kinematics (Individual, 20%) Deadline 19/09/2023 - 08:59
- D2. Trajectory planning (Group, 40%) Deadline 03/10/2023 - 08:59
- D3. Haptic system design (Group, 40%)
Statement D1 (28/08/23)
Solution D1 (26/09/23)
Statement D2 (12/09/23)
September
- 05/09/2023: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
- 12/09/2023: Trajectory planning. Laboratory*
- 19/09/2023: Deliverable D1 (8:59)
- 19/09/2023: Laboratory*
- 26/09/2023: Laboratory*
October
- 03/10/2023: Deliverable D2 (8:59) To be confirmed
- 03/10/2023: Haptic devices. Laboratory*
- 17/10/2023: Laboratory*
- 24/10/2023: Laboratory*
- 30/10/2023: Deliverable D3 (12:59) To be confirmed
- * This laboratory could be extended during the afternoon.