Component
École Nationale Supérieure d'Électrotechnique d'Électronique d'Informatique d'Hydraulique et des Télécommunications
Semester
Automne
Objectives
Be able modeling and generating trajectory in 3D or following a mechanical structure.
Be able to model frame displacement and attitude : Denavit-hartenberg convention, Euler angles, Roll-Pich-Yaw...
Be able establishing geometric, cinematic, dynamic models of mobile robots or Manipulators.
Be able establishing controler based on available informations.
Pre-requisites
Linear algebra (vector and matrix). Solid Dynamics principles. Closed loop control principle.