Robot modeling and performance analysis

The aim of this course is to introduce the basic concepts of robotics, enabling
students to tackle more advanced texts. A student who has taken this course should
have a rigorous and systematic approach to describing a manipulator robot:
geometric, kinematic and dynamic models, forces and moments. They should also be familiar with
the language and basic concepts of robotics (Denavit Hartenberg, degrees of freedom, singularities,
jacobiennne).

Preparatory math: algebra, scalar product, analysis (integration, derivation)

1. Introduction: classic structures, representations, issues

2. Homogeneous transformations: reference frame changes

3. Direct and inverse geometric models, Denavit-Hartenberg parameterization

4. Kinematic model, translational velocity, rotational velocity, Jacobian, singularities, force model
static

5. Dynamic model: potential and kinetic energies, energy dissipation, formalism
Lagrange, Newton-Euler

Course material

Modélisation, identification et commande des robots (2ème édition), Wisama Khalil, Etienne
Dombre,Hermes, 1999, ISBN 2-7462-003-1

Robot Modeling And Control (2ème édition), Mark W. Spong, Seth Hutchinson,M. Vidyasagar
Wiley, 1006, ISBN-10: 0-4711-64990-2 , ISBN-13:978-0-471-44990-8