Robotics Foundations I - Robot Modeling (FedericaX)

Colleagues, the “FedericaX: Robotics Foundations I - Robot Modeling” training program explores the robotics foundations for modelling of robot manipulators. You will learn scenarios of industrial robotics and advanced robotics, fundamentals of kinematics, differential kinematics and statics, Jacobian and its properties, inverse kinematics algorithms, and equations of motion of robot manipulators. The Kinematics of robot manipulators is derived using a systematic approach based on the Denavit-Hartenberg convention and the use of homogeneous transformations. The inverse kinematics problem is analyzed and closed-form solutions are found for typical manipulation structures. The Jacobian is then introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and even formulate inverse kinematics algorithms. The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Two approaches respectively based on Lagrange formulation and Newton-Euler formulation are pursued.

Register today (execs & teams are welcome): https://edx.sjv.io/enaAJ1

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