Robots modeling, analysis and controls

Lecture notes (in French) / Notes de cours (en construction) : Modélisation, analyse et commande des systèmes robotisés

Includes (so far):

  • Robot forward kinematic with a vector-based approach
  • Robot differential kinematic
  • Robot quasi-static controls:
    • End-effector force control
    • End-effector position control
    • Impedance and admittance control
  • Linear algebra for robotics
  1. Modeling and Analysis : Learning how to represent the behavior of robotic systems with mathematical model that can be leveraged when designing or programming robots.fields
  2. Controls: Lear how to design controller for robotic systems.

Related UdeS Classes:

  • Robot kinematic : GRO203
  • Linear algebra : GRO210, GRO211
  • Robot differential kinematic and quasi-static controls: GRO640
  • Robotic system control: (GMC705 – Advanced topic class)
  • Dynamic programming: (GMC705 – Advanced topic class)

Python library: https://github.com/SherbyRobotics/pyro 

  • A toolbox for analysis and simulation of
    • non-linear dynamical systems
    • phase-plane analysis
    • non-linear control schemes
    • robot controllers
    • trajectory planification
    • optimal controller synthesis
    • adaptive controllers