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| MECA0089-1 | Notions of robotics (mechanical aspects)
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| Duration : | 15h Th, 15h Pr |
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| Credits/ECTS : |
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| Holder(s) : | Pierre Duysinx |
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| Language : | Langue française |
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| 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. |
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| Course objective : | Provide basic concepts in robot modelling: kinematic and dynamics models for their design and control. |
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| Prerequisites : | Theoretical Mechanics. Vibrations. Lagrange equations. |
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| Workshops : | Analytical exercices (8 hours). Numerical applications with Matlab (7 hours). |
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| Organization : | 15 lectures during second part of first quadrimester (November to December). Exam in January. |
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| 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.
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| 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) |
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| 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 |
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| Remarks : | None |
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