Link for the website¶
https://
License¶
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
This project has been funded by¶
| Duration | Fund | Funder |
|---|---|---|
| Aug 24 - Jul 25 | Open Research Fellowship | Office for Open Research (UoM) |
Contents¶
| Level | Title |
|---|---|
| Basic | Robotic manipulators basics using numpy |
| Advanced | Kinematic modeling and control of serial-link robotic manipulators using dqrobotics: From zero to hero. |
Basic¶
These lessons are linked to the Robotic Manipulators unit at UoM.
| Lesson | Title |
|---|---|
| 1 | Python basics |
| 2 | Rigid body motion |
| 3 | Forward kinematics |
| 4 | Differential kinematics |
| 5 | Kinematic control |
Advanced¶
Eight lessons representing the Python version of the course below, related to dual-quaternion algebra using DQ Robotics.
Kinematic modeling and control of serial-link robotic manipulators using DQ Robotics: From zero to hero.| Number | Title | Content |
|---|---|---|
| 1 | Python Basics | The very basics of Python and numpy, including simple mathematical operations. |
| 2 | Quaternion Basics | Representing and manipulating quaternions using dqrobotics Python. Unit quaternions are also introduced and used to represent the rotation of rigid bodies |
| 3 | Dual Quaternion Basics (Part 1) | Representing and manipulating dual quaternions using dqrobotics Python. Unit dual quaternions are introduced and used to represent the pose transformation of rigid bodies. |
| 4 | Dual Quaternion Basics (Part 2) | Unit dual quaternions are used to represent lines and planes. Distance functions between points, lines, and planes are also introduced |
| 5 | Robot Control Basics (Part 1) | The basics of the kinematic control of serial-link robotic manipulators. Forward kinematics model, inverse kinematics model, task-space velocity and position control using a 1-DoF planar robot. |
| 6 | Robot Control Basics (Part 2) | Modeling serial robots using the Denavit-Hartenberg (DH) parameters; the forward kinematics model using the DH parameters; the pose, rotation, translation Jacobians; translation, rotation, and pose task-space controlers; all using a 3-DoF planar robot. |
| 7 | Robot Control Basics (Part 3) | Understanding and handling task-space singularities with a 7-DoF planar robot. |
| 8 | Optimization-based Robot Control | Revisiting the topic of kinematic control using mathematical optimization formulation, implement joint-space and task-space constraints using quadratic programming. |