Robotics
This is an introductory course in robotics for senior undergraduate and junior graduate students who have had little to no other introductory courses on the topic. The course focuses on topics in robotics that relate to modeling, dynamics, and control of robotic manipulators. mathematical preliminaries include matrix and vector analysis, basic kinematics and kinetics, and classical (frequency-based) control theory. Some background on more advanced topics such as Lagrangian dynamics, and modern linear and non-linear dynamical system analysis will help. The course will also provide a gentle introduction to the ROS software development environment.
Practice research techniques and methods of investigation as an inherent part of learning. Acquire and apply new knowledge; and practice self, lifelong and other learning strategies. Model, analyze and design physical systems applicable to the specific discipline by applying the concepts of: Thermodynamics, Heat Transfer, Fluid Mechanics, solid Mechanics, Material
Processing, Material Properties, Measurements, Instrumentation, Control Theory and Systems, Mechanical Design and Analysis, Dynamics and Vibrations. Adopt suitable national and international standards and codes to: design, build, operate, inspect and maintain mechanical equipment and systems. Identify and classify the performance of mechatronic systems and components through the use of analytical methods and Modeling techniques. Integrate a wide range of analytical tools, techniques, equipment, and software packages to design and develop mechatronic systems.
Introduction to robot manipulators
Geometrical Robot configuration.
2D & 3DPlannar transformation.
Homogeneous transformation matrix.
Euler and Roll Pitch Yaw Notation.
Foreward Kinematics Using Geometrical Method Foreward Kinematics Using DH parameters.
Inverse Kinematics using DH and Geometrical Solutions
Robot Jacobian
Robot forward and Inverse Jacobian
Robot Forward Dynamics using Newton and Lagrange Method.
Robot Inverse Dynamic.