• 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 (08/09/17)

Slides

• Introduction to the course (with videos) [350MB] (12/09/17)
• Introduction to the course (w/o videos) [6MB] (12/09/17)
• Kinematics (12/09/17)

Laboratory

• Software for the PhantomX Reactor robot (Deliverable D2) (12/09/17)

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 (17/09/17)
• Group schedule (17/09/17)

Deliverables

• D1. Forward and inverse kinematics (Individual, 20%)
Deadline 26/09/2017 - 09:00
Statement D1 (12/09/17)


• D2. Trajectory planning (Group, 40%)


• D3. Haptic system design (Group, 40%)

September

• 12/09/2017: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
• 19/09/2017: Laboratory
• 26/09/2017: Deliverable D1 (9:00)
• 26/09/2017: Trajectory planning. Laboratory

Octuber

• O3/10/2017: Laboratory.
• 10/10/2017: Laboratory.
• 17/10/2017: Deliverable D2 (9:00) To be confirmed
• 17/10/2017: Haptic devices
• 24/10/2017: Laboratory

November

• 10/11/2017: Deliverable D3 (9:00) To be confirmed