# AME 50551 – Introduction To Robotics

## 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:

1. Introduction
2. Representations of Orientation
3. Composing Multiple Rotations
4. Homogeneous Transforms
5. Denavit Hartenberg (DH)
6. DH Continued
7. Forward Kinematics
8. 2D Kinematics Examples
9. 3D Kinematics Examples
10. Inverse Kinematics Intro
11. Inverse Kinematics – Geometric Approach
12. Inverse Kinematics – Algebraic Solutions
13. Exam Review
14. Exam – No Lecture
15. Relative Velocity
16. Velocity Kinematics
17. Jacobian Matrices
18. Jacobian and Static Force Analysis
19. Numerical Inverse Kinematics Intro
20. Numerical Inverse Kinematics
21. Dynamics of a Rigid Body – The Inertia Tensor
22. Dynamics of a Rigid Body – Newton’s and Euler’s Equations
23. Travel – No Lecture
24. Recursive Newton Euler – Outward Pass
25. Recursive Newton Euler – Outward Pass Example
26. Recursive Newton Euler – Inward Pass
27. Review of tricks for reasoning spatially
28. Exam 2 Review
29. Lagrangian Dynamics
30. Exam Wrap Up – No Notes
31. Lagrangian Dynamics
32. Design Considerations
33. Design Considerations
34. Trajectory Generation
35. Trajectory Generation
36. Linear Control
37. Motor Modeling
38. Nonlinear Control
39. Force Control
40. Research Presentation – No Notes
41. Final Exam Review

### Homeworks:

1. Representations of Orientation
2. Spatial Descriptions and Transformations
3. Assigning Coordinate Systems & Forward Kinematics
4. Inverse Kinematics
5. Velocity Analysis and the Jacobian
6. The Jacobian & Static Force Analysis
7. Recursive Newton Euler Dynamics
8. Equations of Motion and Lagrangian Dynamics
9. Trajectory Generation
10. Motor Modelling and Linear Control

### Computer Projects:

1. Numerical Inverse Kinematics and the Matlab Robotics Systems Toolbox
2. Trajectory Generation and Control