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Robotics (MCTR 902)

The goal of this course is to equip each student with an integrated understanding of modeling, equation derivation and numerical solution of multibody systems. By the end of the course, each student should be able to do the following:
  • Identify relevant points, bodies, and bases; choose generalized coordinates to represent a multibody system.
  • Form the required position vectors and differentiate relevant vectors to form required velocities and accelerations.
  • Formulate equations of motion for unconstrained systems.
  • Form constraint equations and solve for independent variables, and formulate equations of motion for systems with constrains.
  • Form work functions, calculate kinetic and potential energy of the system, and formulate the Lagrangian and express the equations of motion in a DAE form.
  • Numerically solve for the DAEs using stabilized integration methods.
  • Design motion control system and analyze the closed-loop behavior
Picture

Syllabus

Syllabus
File Size: 19 kb
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Lecture Notes

  • Introduction to robotic systems
Lecture_1.pdf
File Size: 9260 kb
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ranknull.pdf
File Size: 131 kb
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  • Vector functions and first derivatives
Lecture_2
File Size: 306 kb
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  • Velocity, acceleration, and differentiation in two frames
Lecture_3
File Size: 700 kb
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Robotic Jacobian
File Size: 416 kb
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  • Kinematics and dynamics of parallel manipulators
Lecture_4
File Size: 284 kb
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  • Newton-Raphson methods
Lecture_5
File Size: 2712 kb
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Pantograph with NR
File Size: 135 kb
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  • Orientations and Rodriguez formula
Lecture_6
File Size: 502 kb
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Rodrigues
File Size: 0 kb
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  • Homogeneous tranformations
Lecture_7
File Size: 559 kb
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Pantograph with FB
File Size: 115 kb
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  • Denavit-Hartenberg parameters assignment
Lecture_8
File Size: 3595 kb
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  • Introduction to calculus of variation 
Lecture_9
File Size: 359 kb
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  • Dynamics 
Lecture_10
File Size: 575 kb
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  • Inertia and Equation of Motion
Lecture_11
File Size: 307 kb
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  • Trajectory planning
Lecture_12
File Size: 3208 kb
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Tutorials

  • ​Introduction
tutorial_01.pdf
File Size: 1110 kb
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  • Kinematics of holonomic systems
tutorial_02.pdf
File Size: 181 kb
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  • Newton Raphson
tutorial_03.pdf
File Size: 442 kb
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  • Kinematics of robots with closed-configuration
tutorial_04.pdf
File Size: 269 kb
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  • Kinematics of the Delta robot
tutorial_05.pdf
File Size: 503 kb
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  • Kinematics of the SCARA manipulator
tutorial_06.pdf
File Size: 273 kb
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  • Dynamics of robotic arms
tutorial_07.pdf
File Size: 164 kb
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  • Generalized forces
tutorial_08.pdf
File Size: 143 kb
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Assignments

  • Problem set on kinematics
Kinematics
File Size: 237 kb
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  • Problem set on rotations and kinematics
Rotations
File Size: 60 kb
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  • Homogeneous transformations
HT
File Size: 728 kb
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Exams

Projects

Please visit OPEN POSITIONS and select a project with your group. Refer to the TAs of the course for more details pertaining to deadlines and number of members per group.
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  • Home
  • Research
    • Overview
    • Theses
    • B.Sc. Reports
  • Publications
  • Members
    • Former Staff
    • Former Students
  • Videos
  • Open Positions
    • Helical Microrobots
    • Robotic Sperms
    • Biological Microrobots
    • Magnetic Drug Carriers
    • Self-Propelled Microrobots
    • Electromagnetic Systems
    • Robotic Systems
    • Human-Computer Interaction
    • Scaled-Bilateral Telemanipulation
  • News
  • Courses
    • Advanced Mechatronics Engineering
    • Robotics
    • Nonlinear Optimization
    • Autonomous Systems
    • Medical Robotics