Winter Semester 2010/11
Winter Semester 2011/12
Winter Semester 2012/13
Winter Semester 2013/14
Winter Semester 2014/15
Robotics MARS25001A
Course content: Rotation matrix, homogenized transform. Denavit-Hartenberg parameters. Forward and inverse kinematics. Velocity propagation, static forces. Jacobian. Dynamics: rigid body dynamics, articulated multi-body dynamics, Newton_Euler formulation, recursive algorithm, Lagrange formulation. Trajectory generation. Linear and non-linear control. Force control.
Learning outcomes: Students should have competence in designing manipulators, knowledge basic algorithms for computing velocities, accelerations and forces in robotic systems.
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Term 2013Z:
Course content: Rotation matrix, homogenized transform. Denavit-Hartenberg parameters. Forward and inverse kinematics. Velocity propagation, static forces. Jacobian. Dynamics: rigid body dynamics, articulated multi-body dynamics, Newton_Euler formulation, recursive algorithm, Lagrange formulation. Trajectory generation. Linear and non-linear control. Force control. |
(in Polish) Rodzaj przedmiotu
Course coordinators
Bibliography
a) basic references:
1.Craig J.J. (1995), Wprowadzenie do robotyki,WNT, Warszawa.
2.Kozłowski K., Dutkiewicz P., Wróblewski W. (2003), Modelowanie i sterowanie robotów, PWN Warszawa.
3.Morecki A.,Knapczyk J. (1999), Podstawy robotyki ,WNT, Warszawa.
4.Spong M.W., Vidyasagar M. (1997), Dynamika i sterowanie robotów, WNT, Warszawa.
b) supplementary references:
1.Leyko J. (1968), Mechanika ogólna, PWN, Warszawa.