Advanced Robotics

General

Code: ΚΕ621

Description

Kinematics and statics of rigid body based on screw theory. Dual vectors and quaternions. Manipulator kinematics and the product of exponential formula. Inverse kinematics and the Paden-Kahan sub problems. Redundant and parallel manipulators. Robot dynamics based on the product of exponential formula. Stability theory and control of manipulators. Control with constraints. Multi-fingered hand kinematics. Non-holonomic behavior in robotic systems. Motion planning for holonomic and non-holonomic mobile robots.

The students undertake homework and a project.

Professors

Aspragathos Nikolaos