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Introduction To Robotics: Gustavo Arechavaleta

This document introduces an introduction to robotics course. The course will cover fundamental robotics concepts including kinematics, dynamics, motion planning, control schemes, and applications. Students will complete reading assignments, exams, homework assignments, and a semester-long project to design control systems for different robot platforms. The goal is for students to gain theoretical and practical skills in robotics.

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Manuelete1994
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25 views

Introduction To Robotics: Gustavo Arechavaleta

This document introduces an introduction to robotics course. The course will cover fundamental robotics concepts including kinematics, dynamics, motion planning, control schemes, and applications. Students will complete reading assignments, exams, homework assignments, and a semester-long project to design control systems for different robot platforms. The goal is for students to gain theoretical and practical skills in robotics.

Uploaded by

Manuelete1994
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Introduction to Robotics

Gustavo Arechavaleta

Centro de Investigación y de Estudios Avanzados


Unidad Saltillo, México

Robotics and Advanced Manufacturing Group

G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018


What is a robot ?
It is a machine composed by actuators, sensors and computation
capabilities. This machine is able to move within an environment and to
interact with it.
Motion is a continuous function of time in the space.
Action is an intentional motion.

Representative robot spaces :


Motor space
Sensory space
Task space
Main robot abilities:
Perception (sensors)
Decision (computer)
Action (motors)
G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018 2 / 14
Autonomous robots
A closed-loop process: perception, decision and action.

Environment perception and modeling: build a map of the


environment by means of sensor data (cameras, laser, sonar, etc.).
Motion planning: compute the sequence of feasible/optimal
movements to reach the goal.
Motion execution and control: perform as accurate as possible the
motion plan.
A key concept: motion autonomy
G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018 3 / 14
Autonomous robots

A closed-loop process: perception, decision and action.


The environment could be structured, unstructured, known, partially
known or unknown.
The target can be represented by geometric coordinates or landmarks.
A variety of task constraints such as minimum-time motions,
minimum-energy consumption, maintain visible targets, contacts, etc.
The inherent constraints of the robot: computer, sensor accuracy,
mechanical constraints (e.g., dynamic balance), etc.

G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018 4 / 14


Aims of the course

It presents the theoretical basis of robotics.

What are the current and potential applications ?


Grasping and part manipulation
Assemble and disassemble tasks in manufacturing
All terrain autonomous vehicles
Missions with unmanned aerial and underwater vehicles
Field and service robotics
Human-humanoid interaction
Minimally-invasive robotic surgery
Rehabilitation devices
...

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Tentative schedule
First part
Preliminary concepts
Configuration and State spaces
Rotation matrices and their parametrization
Rigid-body motions
Robot kinematics
Wheeled mobile robots
Forward and inverse problems
Jacobian-based methods
Kinematically redundant robots
Kinematics of closed chains.
Robot dynamics
Lagrange and spatial formulations
Structural properties
Forward and inverse dynamics
Dynamics in task space coordinates
Constrained dynamics
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Tentative schedule

Second part
Path and trajectory planning
Gradient-based methods
Sampling-based methods
Point to point motion
Essentials of robot control
Joint space schemes
Task space schemes
Constrained manipulators
Essentials of visual servoing
Perspective geometry and camera calibration
The interaction maxtrix
Image-based and Position-based schemes

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Assignments

Each student is expected to do the following work:


Complete reading assignments before the corresponding lecture.
Attend every class and participate in discussion.
Complete the homework (HW) assignments individually to grasp the
class material.
HW assignments are small pieces that incrementally integrate a final
project.
There will be midterm and final exams.
Course grading: 30% midterm + 30% final exams + 40% project =
100%

Knowledge of C++, Python and Matlab programming.

G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018 8 / 14


Project
Study case I: KUKA YouBot

Compute its kinematics and dynamics to:

1 Implement in C++ a motion planning strategy.


2 Implement in C++ a state feedback control scheme.
3 Implement in C++ a visual servo control scheme.

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Project
Handbook
Study case II: Autonomous car
Autonomous Model Car
“AutoNOMOS Mini”
1 Implement in C++ a motion planning strategy for parallel parking.
2 Implement in C++ a visual servo control scheme.

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Project
Study case III: redundant manipulator from scratch

Compute its kinematics and dynamics to:

1 Implement in C++ a motion planning strategy or


2 Implement in C++ a task-based control scheme.

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Project
Experimental room: motion capture system available

From the markers placed on the robot and on the obstacles it is possible
to

1 know accurately the pose of each object in the environment


2 obtain the instantaneous location of the robot.

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The class material and homework

The course information will be posted on Schoology with the following


information:
The schedule will be updated as needed during the course.
Links to class notes will also be added during the course.
The homework and reading assignments will be posted.

You have to create an account to be enrolled.


The access code is: 5WMVR-2V5Z6

G. Arechavaleta (Cinvestav) Introduction to Robotics Sep 03, 2018 13 / 14


Welcome to the course

Gustavo Arechavaleta
[email protected]

Robotics and Advanced Manufacturing Group,


CINVESTAV - Saltillo Campus

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