Lecture «Robot Dynamics»: Introduction

Transcription

1 Lecture «Robot Dynamics»: Introduction V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG G1 Wednesday 8:15 10:00, according to schedule (about every 2nd week) office hour: LEE H303 Friday Marco Hutter, Roland Siegwart, and Thomas Stastny Robot Dynamics - Introduction

2 Robotics The natural evolution of automation Growing market and applications Big investment by big companies Robot Dynamics - Introduction

3 Spot-mini (Boston Dynamics) One of the most versatile dynamic robots Robot Dynamics - Introduction

4 Kinematics, Dynamics, and Control of Quadruped + Manipulator Joint position task space position r r q q i r BP r B r p Robot Dynamics - Introduction

5 Kinematics, Dynamics, and Control of Quadruped + Manipulator Joint velocity task space velocity r Jq q i v B r B v F 0 Robot Dynamics - Introduction

6 Kinematics, Dynamics, and Control of Quadruped + Manipulator Joint torque motion / external forces T T Mq b g JextFext S τ i F body F Lift F contacti F contacti F contacti F contacti Robot Dynamics - Introduction

7 Robotic Systems Lab Design, Actuation, and Control for locomotion and interaction legged locomotion and autonomous navigation actuator design for dynamic interaction Mobile- and telemanipulation digital fabrication and automated construction interaction control and haptic manipulation Robotic aggregation of irregular shaped objects Robot Dynamics - Introduction

8 ANYmal an autonomous field-ready quadruped Applications in industrial inspection and search and rescue

9 Dynamics and Control of Flying Vehicles Flying machine arena, IDSC, ETH Zurich Robot Dynamics - Introduction

10 Dynamics of Airplane and Rotorcraft Understanding system dynamics is essential for control T T Mq b g JextFext S τ Robot Dynamics - Introduction

11 Autonomous Systems Lab UAV inspection and aerial manipulation Solar airplane permanent flights Robot Dynamics - Introduction

12 Robot Dynamics Lecture goals T Kinematic and dynamic modeling of robotic systems: ext ext 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 systems T Mq b g J F S τ Robot Dynamics - Introduction

13 Topic Title Intro and Outline L1 Course Introduction; Recapitulation Position, Linear Velocity, Rotation, Transformation Kinematics 1 L2 Rotation and Angular Velocity; Representation; Rigid Body Formulation, Exercise 1a E1a Kinematics Modeling the ABB arm Kinematics 2 L3 Kinematics of Systems of Bodies; Jacobians Kinematics 3 L4 Kinematic Control Methods: Inverse Differential Kinematics, Inverse Kinematics; Rotation Error; Multi-task Control Exercise 1b E1b Kinematic Control of the ABB Arm Dynamics L1 L5 Multi-body Dynamics Exercise 2a E2a Dynamic Modeling of the ABB Arm Dynamics L2 L6 Dynamic Model Based Control Methods Exercise 2b E2b Dynamic Control Methods Applied to the ABB arm Legged Robots L7 Case Study and Application of Control Methods Rotorcraft 1 L8 Dynamic Modeling of Rotorcraft I Rotorcraft 2 L9 Dynamic Modeling of Rotorcraft II & Control Exercise 3 E3 Modeling and Control of Multicopter Case Studies 2 L10 Rotor Craft Case Study Fixed-wing 1 L11 Flight Dynamics; Basics of Aerodynamics; Modeling of Fixed-wing Aircraft Exercise 4 E4 Aircraft Aerodynamics / Flight performance / Model derivation Fixed-wing 2 L12 Stability, Control and Derivation of a Dynamic Model Exercise 5 E5 Fixed-wing Control and Simulation Case Studies 3 L13 Fixed-wing Case Study Summery and Outlook L14 Summery; Wrap-up; Exam Robot Dynamics - Introduction

14 Lecture Material 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) Robot Dynamics - Introduction

15 Lecture Setup Lecture CAB G11 Theory Quick examples on paper Exercise HG G1 Real problems at robotic systems (e.g. 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) Robot Dynamics - Introduction

16 Lecture Rules 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? Robot Dynamics - Introduction