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

Syllabus

Syllabus
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Lecture Notes

• Introduction to robotic systems

Lecture_1.pdf
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ranknull.pdf
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• Vector functions and first derivatives

Lecture_2
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• Velocity, acceleration, and differentiation in two frames

Lecture_3
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Robotic Jacobian
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• Kinematics and dynamics of parallel manipulators

Lecture_4
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• Newton-Raphson methods

Lecture_5
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Pantograph with NR
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• Orientations and Rodriguez formula

Lecture_6
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Rodrigues
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• Homogeneous tranformations

Lecture_7
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Pantograph with FB
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• Denavit-Hartenberg parameters assignment

Lecture_8
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• Introduction to calculus of variation 

Lecture_9
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• Dynamics 

Lecture_10
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• Inertia and Equation of Motion

Lecture_11
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• Trajectory planning

Lecture_12
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Tutorials

• ​Introduction

tutorial_01.pdf
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• Kinematics of holonomic systems

tutorial_02.pdf
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• Newton Raphson

tutorial_03.pdf
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• Kinematics of robots with closed-configuration

tutorial_04.pdf
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• Kinematics of the Delta robot

tutorial_05.pdf
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• Kinematics of the SCARA manipulator

tutorial_06.pdf
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• Dynamics of robotic arms

tutorial_07.pdf
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• Generalized forces

tutorial_08.pdf
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Assignments

• Problem set on kinematics

Kinematics
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• Problem set on rotations and kinematics

Rotations
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• Homogeneous transformations

HT
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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.