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MECA0089-1

Notions of robotics (mechanical aspects)

[ version française ]

Duration :15h Th, 15h Pr
Credits/ECTS :
5th year of the 5 year degree in civil engineering in electromechanics (mecatronics - productics)2,5
Holder(s) :Pierre Duysinx
Course contents : Introduction to the mechanical problems of robot design and control. The lecture is an introduction to methods and tools for analysis and design of robots.
Following points wil lbe adressed:
General architecture of robots; geometrical and kinematic aspects of robot performances (workspace, repeatability, precision, etc.); modelling of rigid body kinematic with homogeneous transformation description; direct model of robot kinematic (Denavit Hartenberg description); inverse problem of kinematics; dynamic equations of robot motion; trajectory planning and generation, introduction CAE tools in robotic design, programming languages of robots.
Course objective : Provide basic concepts in robot modelling: kinematic and dynamics models for their design and control.
Prerequisites : Theoretical Mechanics. Vibrations. Lagrange equations.
Workshops : Analytical exercices (8 hours). Numerical applications with Matlab (7 hours).
Organization : 15 lectures during second part of first quadrimester (November to December). Exam in January.
Written notes : Lecture notes
  • An introduction to robotics: mechanical aspects. P. Duysinx, M. Géradin, 371 pages, (in English).
  • Copy of slides (in French or in Englsih).

Reference books:
  • Ph. Coiffet. La Robotique. Principes et Applications. Editions Hermes, Paris, 1986.
  • H. Asada et J-J Slotine. Robot Analysis and Control. John Wiley and sons, 1986.
  • K.S. Fu, R..C. Gonzalez, C.S.G. Lee. Robotics. Control, Sensing, Vision, and Intelligence. Mc Graw Hill, New York, 1987.
  • W. Khalil et E. Dombre. Modélisation, Identification et Commande des Robots Manipulateurs. Editions HERMES, Paris, 1998.
Assessment : Oral exam in January. Examination with books open (i.e. focus is given on understanding). Solution of an exercice. Homeworks realized along the teachings will have a weight betwwen 20 and 33% depending on their importances (change from year to year)
Contacts : Pierre Duysinx,
Ground Vehicle Engineering
Institute of Mechanics and Civil Engineering, Building B52
Chemin des chevreuils, 1, 4000 Liège
Téléphone : +32 4 366 9194,
Fax : +32 4 366 9159,
Email : P.Duysinx@ulg.ac.be
Remarks : None




ULg : Students and Studies Administration - Academic Affairs
Contact : Monique Marcourt, direction A.E.E.
Date of data : 27/02/2006
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