Robotics Premier: Modeling and Trajectory Planning

Syllabus

• Week 1-1 Robotics: Vision and Development
• Week 1-2 Automation and Industiral Robot
• Week 2-1 Structure of Industiral Robot: Components and Configuration
• Week 2-2 Mathematic Expression of Space Pose
• Week 3-1 Mathematic Calculation of 2D Pose
• Week 3-2 3D Rotation in Matrics and 3D Pose Expression
• Week 4-1 3D Rotation in Rotation Angle
• Week 4-2 3D Rotation Example and Analysis
• Week 5-1 Robot Modeling- DH Parameters
• Week 5-2 Robot Modeling- Frame Attachment
• Week 6-1 Forward Kinematics- Matrics Expression
• Week 6-2 Inverse Kinematics- Geometric and Algebraic Method
• Week 7-1 Inverse Kinematics- Pieper Method for 6 DoF Manipulator
• Week 7-2 Trajectory-Planning in Joint Space and Cartesian Space
• Week 8-1 Trajectory- General Cubic Polynomials
• Week 8-2 Trajectory- Linear Function with Parabolic Blends
• Week 9-1 Static Force and Velocity
• Week 9-2 Path Tracking and Control

Reference

Matierials

The lecture note book can be found here.

Grading

Homework 30% Quiz 5% Attandence 5% Final Assignment 60%