CP 214o Foundations of Robotics 3:1 (August 2022)

Course Instructor: Shishir Y N K, Robert Bosch Center for Cyber Physical Systems & Computer Science & Automation

Course description: This graduate course will serve as an introductory robotics course for students with little/no background in mechanical systems. The course will first build the necessary mathematical framework in which to understand topics such as center of gravity and moment of inertia, friction, statics of rigid bodies, principle of virtual work, kinematics of particles and rigid bodies, impacts, Newtonian and Lagrangian mechanics, rigid body transformations, forward and inverse kinematics, forward and inverse dynamics, state space representations. Towards the end of the course advanced topics such as rigid body collisions, and hybrid dynamical systems will also be covered.

Syllabus

Kinematics of particles and rigid bodies, statics and dynamics of rigid bodies, moment of inertia, principal of virtual work, conservation of energy and momentum, collisions, configuration space, task space, rotation groups, rigid transformations, forward and inverse kinematics, forward and inverse dynamics, holonomic and nonholonomic constraints, hybrid systems, hybrid modeling.

Week 1: Part I: Introduction Overview of course, overview of mechanical systems.

Week 2: Free-body diagrams, constraints, friction, center of gravity and moment of inertia.

Week 3: Virtual displacement, principle of virtual work, potential energy and equilibrium.

Week 4: Part II: Kinematics and Dynamics of Rigid Bodies Types of motion, force, acceleration.

Week 5: Work and energy, impulse and momentum, impact.

Week 6,7: Equations of motion. Part III: Kinematics and Dynamics of Robots

Week 8,9: Configuration space, task space, rigid body transformations.

Week 10,11: Manipulator kinematics, forward and inverse kinematics.

Week 12: Forward and inverse dynamics.

Week 13: Constrained motion, holonomic and nonholonomic systems

Textbooks / References

  1. Ruina, Andy and Pratap, Rudra, Introduction to Statics and Dynamics, Oxford University Press, 2011.
  2. Murray, Li and Sastry, A Mathematical Introduction to Robot Manipulation, CRC Press, 1994.
  3. A. Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford, 2006.

Prerequisites: None. Basic concepts in linear algebra and programming will help.

Grading:

  • Midterm 20%
  • Homeworks 50%
  • Final exam 30%.