Dates & Documents
Slides & Dates
| 05.04. |
#01 |
|
[EX] Introduction, Coordinate Systems |
| 12.04. |
#02 |
|
[RPC] Kinematics, Robot Description, DH-Parameter |
| 19.04. |
No lecture |
(Easter holiday) |
| 26.04. |
#03 |
|
[EX] Robot Description, URDF, Inverse Kinematics |
| 03.05. |
#04 |
|
[RPC] Differential Motion |
|
#05 |
|
[RPC] Jacobian |
| 10.05. |
#06 |
|
[EX] Trajectory Planning |
| 17.05. |
#07 |
|
[RPC] Trajectory Generation |
| 24.05. |
#08 |
|
[EX] Dynamics |
| 31.05. |
#LW |
|
[RPC] Principes of Walking |
| 07.06. |
#09 |
|
[EX] Robot Control |
| 14.06. |
No lecture |
(Pentecost holiday) |
| 21.06. |
#10 |
|
[RPC] Task-oriented Trajectory Generation and Object Representation |
| 28.06. |
#11 |
|
[EX] Path Planning I |
| 05.07. |
#12 |
|
[RPC] Path Planning II |
| 12.07. |
#13 |
|
[EX] Architectures of Sensor-Based Intelligent Systems |
|
#LC |
|
[EX] Summary, Conclusion, Outlook |
|
|
|
Fully compiled slides |
Extras
Some documents may only be accessible from within the FBI VPN
- DH-Parameter - Video
- DH-Parameter and Kinematics script
- DH-Parameter - Practical example using PUMA560
- Geometric approach to inverse Kinematics of PUMA 560
- Principles of Walking - Videos
Literature
- M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, John Wiley & Sons, 2006
- J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Prentice Hall, 2005
- K.-S. Fu, C. S. G. Lee, R. Gonzalez, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill Education, 1987
- R. P. Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, 1986
- J. Craig, Introduction to Robotics: Pearson New International Edition: Mechanics and Control. Always learning, Pearson Education, Limited, 2013.
- R. M. Murray, Z. Li, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994
