## Overview

This material is from the Fall 2018 offering of AME 50551, Introduction to Robotics, taught at the University of Notre Dame. This semester-long course covers fundamentals in modeling, dynamics, and control for serial-chain manipulators.

**Learning Objectives**

The objective of this course is for students to develop fundamental skills for the analysis, design, and control of robotic manipulators. Successful engineering of robotic systems is a multifactorial challenge, requiring competencies in kinematics, dynamics, design, control, mechatronics, and programming. This course will allow students to hone skills in each of these areas, but will place focus on aspects of kinematics, dynamics, and control.

**Topics**

Representations of orientation (Euler angles, angle-axis, rotation matrices), homogenous transformations, Denavit-Hartenberg convention for serial kinematic chains, direct and inverse kinematics of serial manipulators, differential kinematics and the Jacobian matrix, Newton-Euler and Lagrangian dynamics, trajectory planning, position control, force and impedance control, introductory nonlinear manipulator control.

**Text**

Introduction to Robotics, Fourth Edition, J. J. Craig, Pearson, 2017

## Materials

All of the materials are provided in the ZIP file here: link

**Lectures: **

- Introduction
- Representations of Orientation
- Composing Multiple Rotations
- Homogeneous Transforms
- Denavit Hartenberg (DH)
- DH Continued
- Forward Kinematics
- 2D Kinematics Examples
- 3D Kinematics Examples
- Inverse Kinematics Intro
- Inverse Kinematics – Geometric Approach
- Inverse Kinematics – Algebraic Solutions
- Exam Review
- Exam – No Lecture
- Relative Velocity
- Velocity Kinematics
- Jacobian Matrices
- Jacobian and Static Force Analysis
- Numerical Inverse Kinematics Intro
- Numerical Inverse Kinematics
- Dynamics of a Rigid Body – The Inertia Tensor
- Dynamics of a Rigid Body – Newton’s and Euler’s Equations
- Travel – No Lecture
- Recursive Newton Euler – Outward Pass
- Recursive Newton Euler – Outward Pass Example
- Recursive Newton Euler – Inward Pass
- Review of tricks for reasoning spatially
- Exam 2 Review
- Lagrangian Dynamics
- Exam Wrap Up – No Notes
- Lagrangian Dynamics
- Design Considerations
- Design Considerations
- Trajectory Generation
- Trajectory Generation
- Linear Control
- Motor Modeling
- Nonlinear Control
- Force Control
- Research Presentation – No Notes
- Final Exam Review

**Homeworks:**

- Representations of Orientation
- Spatial Descriptions and Transformations
- Assigning Coordinate Systems & Forward Kinematics
- Inverse Kinematics
- Velocity Analysis and the Jacobian
- The Jacobian & Static Force Analysis
- Recursive Newton Euler Dynamics
- Equations of Motion and Lagrangian Dynamics
- Trajectory Generation
- Motor Modelling and Linear Control

**Computer Projects:**

- Numerical Inverse Kinematics and the Matlab Robotics Systems Toolbox
- Trajectory Generation and Control