Robotics 1: Intro to Robotics

Module Leader

Dr Petar Kormushev

+44 (0)20 7594 9235

Professor Thrishantha Nanayakkara
t.nanayakkara@imperial.ac.uk

 

 

  • This module provides an introduction to the field of robotics without requiring prior knowledge or experience in this topic. The students will be acquainted with the most important theoretic building blocks in robotics, namely, kinematics and dynamics of robots, robot control and motion planning algorithms.

          

    Learning Outcomes

    On completion of this module, students will be better able to:
  • Create mathematical models of robot kinematics and analyse them.
  • Create mathematical models of robot dynamics and analyse them.
  • Design suitable controllers for specific robots and specific tasks.
  • Apply algorithms for motion planning.
  • Program robots using Robot Operating System.
  • Design, implement, and test a given robotic task.
  • Enact good collaborative practices of documentation (incl. source code) and team communication.
 

Description of Content

Robot Kinematics:
2D kinematics
3D kinematics

Robot Dynamics:
2D dynamics
Rigid body dynamics equations

Robot Control:
Feedforward control
Feedback control

Robot Motion Planning:
Heuristic planning
Geometric planning
Sampling-based planning
Graph-based planning