Control and Robotics in Medicine
News
- 02/09/2020 - The course starts September 15th. This will be done online via Zoom (09:00) Welcome!!!
- 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 (02/09/20)
- Trajectory Planning (15/09/20)
- Haptic systems (06/10/20)
Slides
- Introduction to the course (with videos) [350MB] (15/09/20)
- Introduction to the course (w/o videos) [6MB] (15/09/20)
- Kinematics (15/09/20)
- Trajectory Planning (22/09/20)
- Haptics (13/10/20)
Laboratory
- Software for the PhantomX Reactor robot (Deliverable D2) (15/09/20)
- Software for the 1 GDL robot (Deliverable 3) (7/10/20)
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 (21/09/20)
- Group schedule D2 (09/09/20)
- Group schedule D3 (13/10/20)
Deliverables
- D1. Forward and inverse kinematics (Individual, 20%) Deadline 29/09/2020 - 08:59
- D2. Trajectory planning (Group, 40%) Deadline 13/10/2020 - 08:59
- D3. Haptic system design (Group, 40%) Deadline 03/11/2019 - 12:59
Statement D1 (09/09/20)
Solution D1 (30/09/20)
Statement D2 (22/09/20)
Statement D3 (13/10/20)
September
- 15/09/2020: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
- 22/09/2020: Trajectory planning. Laboratory*
- 29/09/2020: Deliverable D1 (8:59)
- 29/09/2020: Laboratory
October
- 06/10/2020: Laboratory
- 13/10/2020: Haptic devices. Laboratory*
- 13/10/2020: Deliverable D2 (8:59) To be confirmed
- 20/10/2020: Laboratory
- 27/10/2020: Laboratory
November
- 3/11/2020: Deliverable D3 (12:59) To be confirmed
- * This laboratory could be extended during the afternoon.