Robotics & Intelligent System[CEG4F3]
Descriptions
In this class, it will be discussed about how the robot work, including design and implementation, performance analysis of control system and mechanics design, and also supported device. For detail, the material contains robotics inverse kinematics, motion planning, localization and mapping, vision sensor, soft computing, and final assignment. In the end, it will be added some information about multi agents system and swarm robotics.
Class Contents
- Introduction of Robotics [ pdf ]
- Motion of Rigid Bodies [ pdf ]
- Cartesian Coordinate System
- Projective Coordinate System
- Translational Motions
- Rotational Motions
- Composite Motions
- Mechanical System of Robots
- Robot Mechanism
- Robot Kinematics
- Robot Kinematics
- Electromechanical System of Robots
- Origin of a Rigid Body’s Motion
- Actuation Elements
- Formation of Robot’s Electromechanical System
- Robot Statics
- Robot Dynamics
- Sensing Elements of Robots
- Generic Sensing Principle
- Safety Sensor
- Motion Sensor
- Force/Torque Sensor
- Control System Design
- Control Algorithm and Performance
- Joint-Space Control
- Task-Space Control
- Image-Space Control
- Decision Making System
- Basic of Decision-Making
- Decision Making for Autonomous Behaviors
- Motion Planning
- Motion Planning in Task Space
- Image-Guided Motion Planning and Control
- Visual Sensory System
- Introduction (Basic Light and Human Eye)
- Digital Image Acquisition
- Modelling of Digital Images
- Digital Image-Processing Hardware
- Visual Perception System
- Basic of Visual Perception
- Image Processing
- Feature Extraction
- Geometric-Feature Detection
- Geometry Measurement
Journal and References
| 1) Brock, Oliver, Jeff Trinkle, and Fabio Ramos. Robotics : Science and System VII. MIT Press. 2012. | |||||||||
| 2) Dudek, Gregory and Michael Jenkins. Computational Principles of Mobile Robotics, Second Edition. Cambridge University Press. 2010. | |||||||||
| 3) Pitowarno, Endra. Robotika : Desain, Kontrol, dan Kecerdasan Buatan. Yogyakarta : Penerbit Andi. 2010 | |||||||||
| 4) Barrera, Alejandra. Mobile Robot Navigation. Intech. 2010. (Ebook) | |||||||||
| 5) Arreguin, Juan Manuel Ramos. Automation and Robotics. Intech. 2010. (Ebook) |
Material Suplemen – Addition
- Queensland University of Technology – Kinematics