Lecture «Robot Dynamics»: Introduction

1 ||151-0851-00 Vlecture: CAB G11 Tuesday 10:15 12:00, every weekexercise: HG G1 Wednesday 8:15 10:00, according to schedule (about every 2nd week)office hour: LEE H303 Friday Hutter, Roland Siegwart, and Thomas Dynamics - Introduction1 Lecture robot Dynamics : Introduction || Growing market and applications Big investment by big Dynamics - Introduction2 RoboticsThe natural evolution of automation|| Dynamics - Introduction3 Spot- mini (Boston Dynamics)One of the most versatile dynamic robots|| Joint position task space Dynamics - Introduction4 Kinematics, Dynamics, and Control of Quadruped + ManipulatorprBrBPriq rrq|| Joint velocity task space Dynamics - Introduction5 Kinematics, Dynamics, and Control of Quadruped + ManipulatorBriq Bv0F v rJq || Joint torque motion / external Dynamics - Introduction6 Kinematics, Dynamics, and Control of Quadruped + ManipulatorLiftFicontactFicontactFiconta ctFicontactFbodyFi TText ext MqbgJFS || Design, Actuation.

2 And Controlfor locomotion and Dynamics - Introduction7 Robotic Systems Lablegged locomotion and autonomous navigationdigital fabrication and automated constructionactuator design for dynamic interactioninteraction control and haptic manipulationMobile- and telemanipulationRobotic aggregation of irregular shaped objects||ANYmalan autonomous field-ready quadruped Applications in industrial inspection and search and rescue|| Dynamics - Introduction9 Dynamics and Control of Flying VehiclesFlying machine arena, IDSC, ETH Zurich|| Understanding system dynamics is essential for Dynamics - Introduction10 Dynamics of Airplane and RotorcraftTText ext MqbgJFS || UAV inspection and aerial manipulation Solar airplane permanent Dynamics - Introduction11 Autonomous Systems Lab|| Kinematic and dynamic modeling of robotic systems.

3 Manipulators (position and force control) Legged robots Rotary wing systems Fixed wing airplanes Objective of the course Deepening an applied understanding of how to model the most common robotic systems Extending the background in kinematics, rotations, and dynamics of multi-body systems Modeling of actuation forces Apply the models in control Provide tools to work in the field of design and control of robotic Dynamics - Introduction12 robot DynamicsLecture goalsTText ext MqbgJFS || and OutlineL1 Course Introduction ; Recapitulation Position, Linear Velocity, Rotation, 1L2 Rotation and Angular Velocity; Representation; Rigid Body Formulation, 1aE1aKinematics Modeling the ABB 2L3 Kinematics of Systems of Bodies; 3L4 Kinematic Control Methods: Inverse Differential Kinematics, Inverse Kinematics; Rotation Error; Multi-task 1bE1bKinematic Control of the ABB L1L5 Multi-body 2aE2aDynamic Modeling of the ABB L2L6 Dynamic Model Based Control 2bE2bDynamic Control Methods Applied to the ABB RobotsL7 Case Study and Application of Control 1L8 Dynamic Modeling of Rotorcraft 2L9 Dynamic Modeling of Rotorcraft II & 3E3 Modeling and Control of Studies 2L10 Rotor Craft Case 1L11 Flight Dynamics; Basics of Aerodynamics.

4 Modeling of Fixed-wing 4E4 Aircraft Aerodynamics / Flight performance / Model 2L12 Stability, Control and Derivation of a Dynamic 5E5 Fixed-wing Control and Studies 3L13 Fixed-wing Case and OutlookL14 Summery; Wrap-up; Dynamics - Introduction13|| Official Lecture material (online on Lecture homepage) Script on kinematics and dynamics (the script is new, please report mistakes!) Slides (online) [complete slides will be provided after Lecture ] Exercise exam Additional readings Selected papers will be uploaded to homepage Handbook of Robotics (Siciliano, Khatib) Robotics Modelling, Planning and Control (Siciliano, Sciavicco, Villani, Oriolo) Dynamics - Introduction14 Lecture Material|| Lecture CAB G11 Theory Quick examples on paper Exercise HG G1 Real problems at robotic systems ( ABB industrial arm) Matlab => bring along a laptop or join a colleague Case Studies State of the art engineering and research at selected examples Not primarily relevant in exams (only some multiple choice questions)

5 Dynamics - Introduction15 Lecture Setup|| If things are unclear, immediately interrupt and ask(I m happy if the Lecture becomes a discussion) Write a mail or come to office hours if things need to be further explained We try to have a short recap of all important questions at the beginning of every Lecture Small exercises during Lecture : Try to solve them without help of the solution! (it helps you to understand the difficulties) Break between hours? Dynamics - Introduction16 Lecture Rules