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Lecture - Week 1

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20 views17 pages

Lecture - Week 1

Uploaded by

Abdul Munem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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MTS 418 Applied Robotics

Kanwal Naveed
Associate HoD
Applied
Robotics

• Centering on practical applications


of mobile robots and manipulators

• Prioritize integration and


deployment aspects

• Interdisciplinary approaches like AI,


LLMs and CV

2
Expected Contents
• Overview of robotics and its applications.
• Introduction to mobile robots: Types, applications, and challenges.
• Kinematic modeling of mobile robots: Differential drive, Ackermann steering, and
omni-directional.
• Dynamic modeling of robots (forces, torques, and control implications)
• Introduction to ROS
• Advanced topics of ROS
• Introduction to path planning: Dijkstra, A*, RRT, and PRM algorithms.
• Basics of probabilistic robotics: Kalman Filter and Particle Filter.
• Introduction to SLAM: Types (e.g., ORB-SLAM, Hector SLAM, Cartographer)
• Basics of Computer-Vision based Control
• Feature detection, YOLO etc
• AI in Robotics, CNN, reinforcement learning etc
• Swarm robotics and IoT
• Ethical Considerations and real-world challenges 3
Brief Introduction
• Credit Hours: 3-0

• Text Book:
Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tract
s in Advanced Robotics)
by Peter Corke

• Modes of Teaching: Theory, Simulations Works, Projects, Research


papers etc

4
Gradings

• Quizes: 10%
o 6 regular quizes and may be a bonus quiz Lab : 25
o Quizes are ususally announced

• Assisgnments: 5%
o 2 assisgments
o Submission is in form of test

• Midterm: 25%

• Project: 15%

• Final Exam: 45% 5


Wheeled Mobile Robots

Lab : 25

Differential Drive Omni wheel drive Ackerman drive

6
Wheeled Mobile Robots- Degree of Freedom

Lab : 25

🛞 Two independent wheels (left & right).


✅ Can move forward, backward, and rotate (turn in
place).
❌ Cannot strafe (move sideways).
• DoF: 2 (linear velocity v angular velocity ω).
• Example: TurtleBot, Roomba, Pioneer 3DX

Differential Drive

7
Wheeled Mobile Robots

Lab : 25

🚗 Car-like steering with front wheels turning and rear


wheels fixed.
✅ Can move forward, backward, and turn (follows a curved
path).
❌ Cannot rotate in place or strafe sideways.
• DoF: 2 (linear velocity v, steering angle θ).
• Example: Autonomous cars, RC cars, self-driving
Ackerman drive
vehicles

8
Wheeled Mobile Robots

Lab : 25
🛞 Uses Mecanum wheels or Omni wheels (rollers allow
sideways movement).
✅ Can move forward, backward, strafe (sideways), and
rotate freely.
🚀 More flexible but harder to control.
• DoF: 3 (linear velocities vx, vy​, and angular velocity ω).
• Example: Mecanum wheel robot, KUKA YouBot

Omni wheel drive

9
Lab : 25

Kinematics Modelling

10
Kinematic Model

Lab : 25
Predict how a robot will move based on its wheel speeds or motor commands
—without worrying about forces, friction, or motor power.

Think of it like this:

• If you turn the wheels of a car, where will it go? A kinematic model answers this.

• If a robot wants to move in a circle, what wheel speeds should it use? A


kinematic model helps compute this.

11
Differential Drive

Kinematic Model Lab : 25

The motion of each wheel


is controlled by a motor

12
Differential Drive

Kinematic Model Lab : 25

The motor produce torque at


motor drive axis to spin the wheel
thereby changing the robot’s
pose

13
Differential Drive

Lab : 25

14
Differential Drive

Lab : 25

15
Differential Drive
If wheels are not centered at Mc : the center of Mass

Lab : 25

Differential drive is Non-holonomic

16
Differential Drive

Kinematic Model Lab : 25


Python Code on LMS

Home-task: Turn the robot in its own place.

17

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