• 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 (29/08/22)
• Trajectory Planning (06/09/22)
• Haptic systems (27/09/22)

Slides

• Introduction to the course (06/09/22)
• Kinematics (06/09/22)
• Trajectory Planning (13/09/22)
• Haptics (06/10/22)

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 (11/09/22)
• Group schedule D2 (11/09/22)
• Group schedule D3 (27/09/22)

Deliverables

• D1. Forward and inverse kinematics (Individual, 20%)
Deadline 20/09/2022 - 08:59
Statement D1 (30/08/22)
Solution D1 (26/09/22)


• D2. Trajectory planning (Group, 40%)
Deadline 04/10/2022 - 08:59
Statement D2 (12/09/22)


• D3. Haptic system design (Group, 40%)
Deadline 28/10/2022 - 12:59
Statement D3 (03/10/22)

September

• 06/09/2022: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
• 13/09/2022: Trajectory planning. Laboratory*
• 20/09/2022: Deliverable D1 (8:59)
• 20/09/2022: Laboratory*
• 27/09/2022: Laboratory*

October

• 04/10/2022: Deliverable D2 (8:59) To be confirmed
• 04/10/2022: Haptic devices. Laboratory*
• 14/10/2022: Laboratory*
• 18/10/2022: Laboratory*
• 28/10/2022: Deliverable D3 (12:59) To be confirmed

November

* This laboratory could be extended during the afternoon.