===== Lecture materials =====
This is a list of online materials for the robotics course lectures. Slides are the slides beamed during lectures, handouts are printable version of slides with basic equations and some explanations. It is recommended to print handouts before lecture and make a notes into the material during lectures or download them and comment using tablets. \\ 

[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/literatureeng.pdf|Literature]]\\
Introduction 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/introductioneng.pdf|slides]],  
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/introduction-noteeng.pdf|handouts]] \\
Kinematics 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/kinematikaeng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/kinematika-noteeng.pdf|handouts]]\\
Geometry and algebra used in kinematics 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/geometryeng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/geometry-noteeng.pdf|handouts]]\\
Kinematics of serial manipulators 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/serialeng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/serial-noteeng.pdf|handouts]]\\
Denavit-Hartenberg step by step (by Tomas Pajdla) 
[[http://cmp.felk.cvut.cz/cmp/courses/IRO/2005Z/Lecture/IRO-2005-Lecture-04.pdf|slides only]]\\
Denavit-Hartenberg example on real robot
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/DH-Staublieng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/DH-Staubli-noteeng.pdf|handouts]]\\
Inverse kinematics of 6-DOF serial robot 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/inverse6DOFeng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/inverse6DOF-noteeng.pdf|handouts]]\\
Kinematics of parallel manipulators 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/paralleleng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/parallel-noteeng.pdf|handouts]]\\
Differential Kinematics 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/diffkineng.pdf|slides]], 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/diffkin-noteeng.pdf|handouts]]\\  
Statics 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/statikaeng.pdf|slides]], [[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/statika-noteeng.pdf|handouts]]\\
Robot Control 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/rizenieng.pdf|slides]],  [[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/rizeni-noteeng.pdf|handouts]]\\
Actuators, drives, gearboxes
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/pohonyeng.pdf|slides]],  [[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/pohony-noteeng.pdf|handouts]]\\
Mobile Robots Navigation 
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/navigationeng.pdf|slides]],  [[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/navigation-noteeng.pdf|handouts]]\\
[[http://cmp.felk.cvut.cz/cmp/courses/ROB/video/|Videos]] for slides and separately (for automatic preview within slides, the videos shall be placed in the directory ../video/)\\

===== Time plan =====

The time plan is scheduled for actual lectures only, the semester has 14 weeks but one lecture is cancelled due to public holidays.

  - Introduction, applications of robots
  - Kinematics, terminology, degrees of freedom, structures
  - Body in the coordinate system, transformation of coordinates
  - Open kinematic chain, direct kinematics
  - Denavit-Hartenberg notation
  - Easter holidays
  - Inverse kinematics
  - Parallel manipulators
  - Example: Analysis of complex kinematic chain with camera in measuring machine
  - Differential kinematics, Jacobian
  - Differential kinematics, applications, example
  - Statics
  - Robot control, Mobile robots navigation
  - Applications of robots in industry



===== Links =====

  * University Matlab license (the internet connection is needed to run the Matlab): [[https://download.cvut.cz/|https://download.cvut.cz]] It could be used at home or at dormitories, further information is at [[http://www.civ.cvut.cz/info/info.php?&did=20|CTU web page]].
[[http://www.euclideanspace.com/maths/geometry/|Easy to read reference]] not only about 3D geometry. \\ [[http://mathworld.wolfram.com|Mathematical reference]].\\ 
[[http://www.cat.csiro.au/ict/staff/pic/robot|Robotics toolbox for Matlab]].\\ 
[[http://spectrum.ieee.org/jul08/6380|Mobile robots used in store system.]]\\ 
[[http://spectrum.ieee.org/jul08/6382|How the store works.]]\\ 
[[http://www.bostondynamics.com/content/sec.php?section=BigDog|BigDog legged robot.]]\\
[[help:common:circles_intersection|Intersection of Two Circles]]\\