Introduction to Robotic Systems

Introduction to robotic systems: Forward and inverse kinematics in 3D: position and orientation (mathematical representations of orientation). Forward and inverse differential kinematics: Jacobian matrix, singularities, workspace, task space, redundancy. Kinematics and differential kinematics of mobile robots. Position control of robotic systems. Actuators and sensors. Algorithms for trajectory design. Programming and simulation of robotics systems using MATLAB and ROS.

The course introduces students to basic principles, mathematical representations and architectures of robotic systems. Also, the course demonstrates the diverse scientific disciplines that coexist in robotics (mechanical engineering, computer science and control systems) and puts emphasis on biomedical applications. By the end of the course, the student should be able to model the kinematics and the differential kinematics of robotic systems (forward and inverse) and the dynamics of simple manipulator structures, to design simple robot trajectories and perform basic control of robot motion. Emphasis will be put on the modeling, control and simulation of robotic manipulators. During the course, virtual robotic manipulators will be programmed and controlled in simulation, using MATLAB, ROS environment and Gazebo 3D simulator.

John J. Graig, “Εισαγωγή στην ρομποτική”, ΕΚΔΟΣΕΙΣ Α. ΤΖΙΟΛΑ & ΥΙΟΙ Α.Ε., Έκδοση/2020

Sciciliano Sciavicco, Villiani Oriolo, “Ρομποτική”, ΕΚΔΟΣΕΙΣ Φούντα, Ημερομηνία έκδοσης: 2013

Final exams: 75%

Exercises:     25%