Robotics II

Robotics for graduate students,

Fall 2018,  Sun- Tue,  16:30-18:30

Dr. Hamid Sadeghian, Dr. Mehdi Keshmiri

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References;

  • B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control,
    New York, NY, USA: Springer, 2009.

  • B. Siciliano, O. Khatib, Springer Handbook of Robotics, 2008

  • M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, 2005.

 

Evaluation

Midterm1

Midterm2

Final

Homeworks and Projects

 

Course Materials

slides

  • Introduction : 
    01 intro.pdf / 25Shahrivar97

  • Kinematics :
    02Kinematics.pdf  /30 Shahivar97

  • Differential Kinematics
    03-1 differential Kinematics.pdf / 8Mehr97
    03-2 Redundancy.pdf/ 22Aban

  • Trajectory Planning
    04 Trajectory planning.pdf/23Mehr

  • Actuators and sensors
    05-1 Mechanism-actuations.pdf /19Aban
    05-2 Sensing and estimation.pdf/19Aban

  • Dynamics
    06-Dynamics.pdf.pdf

  • Motion Control
    07-1 Motion Control.pdf/10dey

  • Force Control
     

Homeworks/Solutions

HW.rar

Simulations

simulations.rar

More Examples:

MoreExample.rar

Student Projects (آختیاری)

Student Project