Robot Kinematics and Dynamics

Homogenious transformations of diferential movements (transformation derivative, differential translation and rotation, transformation of differential movements between coordinate systems); Jacobian matrix for manipulator (calculation, geometry and analytical, inverse, singularity, redundancy, J pseudoinverse ); Statics (equvivalent joint torques, transformation of forces and moments, kinematics and statics duality, stiffness); Trajectory generation (absolute, incremental interpolator, superposition with basis functions, Dynamic Movement Primitives,

AI methods for parameter definition); Lagrange dynamics of rigid manipulator (movement equations, linearity, notation in external coordinates); Newton-Euler formulation (equilibriaum equations, calculation of kinematic quantities); Examples.

(a) Spoznati teoretične osnove diferencialne kinematike, statike, Lagrange in Newton-Euler dinamike.

(b) Preveriti medsebojen vpliv veličin z omenjenih področij na realnih mehanizmih v laboratoriju.

(c) Dolgoročno: razumevanje podanih relacij in njihova uporaba

Lectures, laboratory practice in smaller groups. In practical exercises are used larger number of modern industrial and other robots. Students have available lecture notes with condensed content of the subject. Invited are guest lectures from Slovenian industry.