Informations générales
ECTSECTS
1
Goal(s)
Knowledge of modelling of robots and associated control methods
Content(s)
•Introduction
•Modelisation
Space representation (frames, transformations, etc.)
Direct kinematic
Examples of robots with 4ddf, 5ddf, etc...
Inverse kinematic
Dynamical behaviour
Main dynamics
Higher dynamics
Frictions
•Identification, estimation and control
Parameters identification
Position and orientation control
Control of local cactuators (PID, robust control)
Passivity and nonlinear decoupling
Path planning, obstacle avoidance, etc.
Examples on fixed and mobile robots
Effort control
•Some remarks on non detailed points
Image analysis
Sensor based control
Etc.
Prerequisites :
Mechanics
Linear and non linear control
Test
CC
Calendar
S1
Additional Information
8 h CM + 4 h BE
Bibliography
Springer Handbook of Robotics, by Bruno Siciliano (Editor), Oussama Khatib (Editor), 2007
Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, M. Vidyasagar, John Wiley and Sons, Inc., 2005
French State controlled diploma conferring a Master's degree
