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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.

Literature

Introduction
slides,
handouts

Kinematics
slides,
handouts

Geometry and algebra used in kinematics
slides,
handouts

Kinematics of serial manipulators
slides,
handouts

Denavit-Hartenberg step by step (by Tomas Pajdla)
slides only

Denavit-Hartenberg example on real robot
slides,
handouts

Inverse kinematics of 6-DOF serial robot
slides,
handouts

Kinematics of parallel manipulators
slides,
handouts

Differential Kinematics
slides,
handouts

Statics
slides, handouts

Robot Control
slides, handouts

Actuators, drives, gearboxes
slides, handouts

Mobile Robots Navigation
slides, handouts

Videos for slides and separately (for automatic preview within slides, the videos shall be placed in the directory ../video/)

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

- University Matlab license (the internet connection is needed to run the Matlab): https://download.cvut.cz It could be used at home or at dormitories, further information is at CTU web page.

Easy to read reference not only about 3D geometry.

Mathematical reference.

Robotics toolbox for Matlab.

Mobile robots used in store system.

How the store works.

BigDog legged robot.

Intersection of Two Circles

courses/ae3b33rob/lectures.txt ยท Last modified: 2015/02/24 09:17 by smutny