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In this seven-lesson tutorial, we start from the very basics of setting up your Python environment, then cover scalar and matricial operations in Python using numpy, all the way until the basics of kinematic control. Until kinematic control, most is based on Spong et al., 2020.

Using this book

Each lesson is a MyST text notebook. Each lesson can be opened and executed with popular IDEs, such as VSCode and PyCharm. The reader is expected to follow it sequentially.

Contents

NumberTitle and LinkContent
0lesson0_tutorial.ipynbSetting up the virtual environment and installing all required dependencies.
1L1 A quick Python refresherBasic operations in Python and numpy
2L2 Rigid Body MotionLearn about elements and operations in Rn\mathbb{R}^n, SO(n)SO(n), and SE(n)SE(n) with n∈{2,3}n\in{\{2,3\}} related to positions, orientations, and poses, respectively.
3L3 Forward KinematicsLearn about the composition of rigid body motion in series to obtain the forward kinematics model of a robotic manipulator, mapping their configuration space q∈Rn\myvec{q}\in\mathbb{R}^n into their task space x∈Rm\myvec{x}\in\mathbb{R}^m.
4L4 Differential KinematicsLearn about the first-order differential mapping x˙=Jq˙\dot{\myvec{x}}=\mymatrix{J}\dot{\myvec{q}} between joint space and task space velocities through the calculation of the Jacobian J\mymatrix{J}.
5L5 Kinematic ControlEmploy the previous knowledge in all previous lessons to employ a Lyapunov-stable control law to move a manipulator in task space using configuration-space signals.
6L6 Adaptive Constrained Kinematic ControlAdvanced application: run the adaptive constrained kinematic control example from Marinho & Adorno, 2022 in Python, using the headless (no_vrep) API, and compare a run with and without online model adaptation.

Exercise Answers

LessonLink
L1L1 Exercise Answers
L2L2 Exercise Answers
L3L3 Exercise Answers
L4L4 Exercise Answers
L5L5 Exercise Answers
References
  1. Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2020). Robot Modeling and Control. Wiley.
  2. Marinho, M. M., & Adorno, B. V. (2022). Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements. IEEE Transactions on Robotics, 38(6), 3498–3513. 10.1109/TRO.2022.3181047
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L0 Setting up the virtual environment