Class Description

Course ID: H5

Unit: ADVANCED COMPUTER SYSTEMS – Unit H: Hadware Systems

Weekly Hours: 4

Type:

ECTS Credits: 7

Course Homepage: http://ecourse.uoi.gr/enrol/index.php?id=1037

Description: Kinematics: Direct kinematics, inverse kinematics, differential kinematics, Jacobian matrices, singularities, kinematics of mobile robots. Sensors and actuators: Actuators in Robotics, electronic subsystem, sensors, amplifiers, control system, PID control of a joint, control architecture of a mobile robot. Robotic motion planning: Robot planning and control architecture, path planning, the configuration space, obstacles in work-space, roadmap, artificial potential fields, non-holonomic constraints, motion planning of a robotic fleet. Advanced control of robotic systems: Compliance control, impedance control, non-linear control, visual servoing.