Advanced Robotics

General Data
Academic program	ECAM ENGINEERING PROGRAM			:
Type d'EC	Classes
Lectures : 12h00 Tutorials : 12h00 Lab Work : 12h00 Total duration : 60h00	Status :	Period : SEMESTER 7	Education language : English

Learning Outcomes
By the end of this course, students will be able to: 1. Control simple robotic architectures (either mobile or arm) 2. Understand the stakes of robotics in terms of industry and society 3. Choose the adequate robotic solution for the context 4. Perform a full kinematic analysis of any robotic system 5. Perform a full dynamic analysis of any robotic system 6. Learn to program a robotic system (mobile and arm) using ROS (Robotic Operating System) 7. Avoid singularities by computing the numerical Jacobian 8. Develop good programming practices (documentation, test, git/gitflow)

Learning Outcomes

By the end of this course, students will be able to:
1. Control simple robotic architectures (either mobile or arm)
2. Understand the stakes of robotics in terms of industry and society
3. Choose the adequate robotic solution for the context
4. Perform a full kinematic analysis of any robotic system
5. Perform a full dynamic analysis of any robotic system
6. Learn to program a robotic system (mobile and arm) using ROS (Robotic Operating System)
7. Avoid singularities by computing the numerical Jacobian
8. Develop good programming practices (documentation, test, git/gitflow)

Content
-Numerical Jacobian, singularity avoidance -Trajectory and path planning for robot arms -Performance evaluation : accuracy, precision, load, repeatability, workspace -Dynamics of a robot arm (inertia, Coriolis) -Visual servoing -Programming a robotic arm and a mobile robot

Pre-requisites / co-requisites
-Introduction to Robotics -Sensing & perception -Signal processing -Control theory 1

Bibliography
Essential resources: None Recommended resources: Corke P. (2011) Robotics, Vision and Control. Springer Tracts in Advanced Robotics, vol 73. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20144-8_15 Springer Handbook of Robotics, Sciliano B, Khatib O., Springer International Publishing Robotics: Theory and Industrial Applications, 2nd Edition, Ross L. T., Fardo S W, Masterson J. W., Towers R. L., Goodheart-Willcox; 2 edition (April 14, 2010)

Bibliography

Essential resources: None
Recommended resources:
Corke P. (2011) Robotics, Vision and Control. Springer Tracts in Advanced Robotics, vol 73. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20144-8_15
Springer Handbook of Robotics, Sciliano B, Khatib O., Springer International Publishing
Robotics: Theory and Industrial Applications, 2nd Edition, Ross L. T., Fardo S W, Masterson J. W., Towers R. L., Goodheart-Willcox; 2 edition (April 14, 2010)

Assessment(s)
N°	Nature	Coefficient	Observable objectives
1	Observable objectives: mid-term exam in which students will be evaluated on their ability to analyze the kinematics and dynamics of complex robotic systems.	0,3	1, 2, 3, 4, 5, 6, 7
2	Observable objectives: labs in which students will be evaluated on their ability to program robot arms and mobile robots using good coding practices and the ROS middleware.	0,3	6, 7, 8
3	Observable objectives: final exam in which students will be evaluated on their ability to analyze the kinematics and dynamics of a complex robotic system and on motion planning for simple mobile robots.	0,4	Written exam