RO-1 Robotics Premier: Modeling and Trajectory Planning
Undergraduate Course, Henan University of Technology, College of Electrical Engineering, 2025
Robotics Premier: Modeling and Trajectory Planning Course Duaration: Feb.2025 - Apr.2025
Syllabus
| Index | Date | Matierials |Content | | ——– | —— | —————-|—————–| | Week 1-1 | 2025/2/17 | PDF |Robotics: Vision and Development | | Week 1-2 | 2025/2/21 | PDF |Automation and Industiral Robot | | Week 2-1 | 2025/2/24 | PDF |Structure of Industiral Robot: Components and Configuration | | Week 2-2 | 2025/3/3 | PDF |Mathematic Expression of Space Pose | | Week 3-1 | 2025/3/7 | PDF |Mathematic Calculation of 2D Pose | | Week 3-2 | 2025/3/10 | PDF |3D Rotation in Matrics and 3D Pose Expression | | Week 4-1 | 2025/3/14 | PDF |3D Rotation in Rotation Angle | | Week 4-2 | 2025/3/17 | PDF |3D Rotation Example and Analysis | | Week 5-1 | 2025/3/21 | PDF |Robot Modeling- DH Parameters | | Week 5-2 | 2025/3/24 | PDF |Robot Modeling- Frame Attachment | | Week 6-1 | 2025/3/31 | PDF |Forward Kinematics- Matrics Expression | | Week 6-2 | 2025/4/4 | PDF |Inverse Kinematics- Geometric and Algebraic Method| | Week 7-1 | 2025/4/7 | PDF |Inverse Kinematics- Pieper Method for 6 DoF Manipulator | | Week 7-2 | 2025/4/11 | PDF |Trajectory-Planning in Joint Space and Cartesian Space | | Week 8-1 | 2025/4/14 | PDF |Trajectory- General Cubic Polynomials | | Week 8-2 | 2025/4/18 | PDF |Trajectory- Linear Function with Parabolic Blends | | Week 9-1 | 2025/4/14 | PDF |Static Force and Velocity | | Week 9-2 | 2025/4/18 | PDF |Path Tracking and Control |
Grading
Homework 30% Quiz 5% Attandence 5% Final Assignment 60%