JRL704
| JRL704 | |
|---|---|
| Foundation of Robotics | |
| Credits | 3 |
| Structure | 1-0-4 |
| Pre-requisites | |
| Overlaps | |
JRL704 : Foundation of Robotics
[edit]Type and components of robots, e.g., industrial robots, mobile robots, UAVs, etc.; actuators and sensors used in robots; Definition of mechanisms and manipulators; Degrees of freedom and mobility; Rotation representation; Coordinate transformation; DH parameters; Forward and inverse kinematics analyses; Basics of dynamics; State variable model; Open and Closed Linear and Nonlinear control of robots; Feedback control; controllers (PI, PID, PD); Discretization; Finite State Machines; Processors: Architecture: ARM processors; Robot operating system (ROS).