News

• The slides on motion control have been uploaded.

• The template for the final report has been uploaded.

Topic Selection

Topic	Student
Implementation of an Inverse Kinematic Algorithm for Modular Robot Manipulators	Florian Grötzner
Kinematic Modelling and Calibration of a Modular Robot Manipulator	Florian Hisch
Automatic Modelling and Control of a Modular Robot Manipulator	Pascal Möller
Interfacing Simulink with the Robot using a Rapid Control Prototyping System	Mohit Agarwal
Implementation of an Obtacle Avoidance Algorithm for Modular Robots	Anjum Parvez Ali

Material

• Preliminary Meeting Presentation

• TeX template for writing the report.

• Recalls of kinematics (first part)

• Recalls of kinematics (second part)

• Recalls of dynamics

• Actuators

• Imitation Learning

• Intro. to Motion Control

• Tips for making presentations

Content

Recongurable and modular robots are mechatronic systems composed of interchangeable modules. Thanks to their modular nature they can be adapted for different applications with clear advantages with respect to fixed-structure robots especially in flexible environments. Modular robots are advantageous for robot manufacturers providing a large portfolio of different robots with a few standard modules. Additionally, the customers can adapt their robots for different tasks without purchasing new ones.

Modular robots can be assembled in different ways and generally, for each assembly, a different mathematical model describes the kinematics and dynamics of the system. When the number of modules considered increases and when they are heterogeneous, the manual derivation of all possible models becomes unpractical. Automatic modelling methods have been developed to address these challenges.

The focus of this practical course is on modelling and control of modular robot manipulators.