Component
École Nationale Supérieure d'Électrotechnique d'Électronique
Objectives
Understand the different modeling elements for controlling robotic structures
Description
Homogeneous 3D coordinate transformation matrices for mobile robots or manipulators
Kinematic and dynamic models for control
Conventional, dynamic, and hybrid position-force control structures
BE: implementation of modeling and control blocks in Matlab-Simulink
Pre-requisites
Point mechanics. Linear algebra (vector and matrix). Control architecture.