Lecture «Robot Dynamics»: Introduction 151-0851-00 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 12.15 13.00 Marco Hutter, Roland Siegwart, and Thomas Stastny Robot Dynamics - Introduction 20.09.2016 1
Robotics The natural evolution of automation Growing market and applications Big investment by big companies Robot Dynamics - Introduction 20.09.2016 2
Spot-mini (Boston Dynamics) One of the most versatile dynamic robots Robot Dynamics - Introduction 20.09.2016 3
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 20.09.2016 4
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 20.09.2016 5
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 20.09.2016 6
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 20.09.2016 7
ANYmal an autonomous field-ready quadruped Applications in industrial inspection and search and rescue
Dynamics and Control of Flying Vehicles Flying machine arena, IDSC, ETH Zurich Robot Dynamics - Introduction 20.09.2016 9
Dynamics of Airplane and Rotorcraft Understanding system dynamics is essential for control T T Mq b g JextFext S τ Robot Dynamics - Introduction 20.09.2016 10
Autonomous Systems Lab UAV inspection and aerial manipulation Solar airplane permanent flights Robot Dynamics - Introduction 20.09.2016 11
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 20.09.2016 12
Topic Title 20.09.2016 Intro and Outline L1 Course Introduction; Recapitulation Position, Linear Velocity, Rotation, Transformation 27.09.2016 Kinematics 1 L2 Rotation and Angular Velocity; Representation; Rigid Body Formulation, 28.09.2016 Exercise 1a E1a Kinematics Modeling the ABB arm 04.10.2016 Kinematics 2 L3 Kinematics of Systems of Bodies; Jacobians 11.10.2016 Kinematics 3 L4 Kinematic Control Methods: Inverse Differential Kinematics, Inverse Kinematics; Rotation Error; Multi-task Control 12.10.2016 Exercise 1b E1b Kinematic Control of the ABB Arm 18.10.2016 Dynamics L1 L5 Multi-body Dynamics 19.10.2016 Exercise 2a E2a Dynamic Modeling of the ABB Arm 25.10.2016 Dynamics L2 L6 Dynamic Model Based Control Methods 26.10.2016 Exercise 2b E2b Dynamic Control Methods Applied to the ABB arm 01.11.2016 Legged Robots L7 Case Study and Application of Control Methods 08.11.2016 Rotorcraft 1 L8 Dynamic Modeling of Rotorcraft I 15.11.2016 Rotorcraft 2 L9 Dynamic Modeling of Rotorcraft II & Control 16.11.2016 Exercise 3 E3 Modeling and Control of Multicopter 22.11.2016 Case Studies 2 L10 Rotor Craft Case Study 29.11.2016 Fixed-wing 1 L11 Flight Dynamics; Basics of Aerodynamics; Modeling of Fixed-wing Aircraft 30.11.2016 Exercise 4 E4 Aircraft Aerodynamics / Flight performance / Model derivation 06.12.2016 Fixed-wing 2 L12 Stability, Control and Derivation of a Dynamic Model 07.12.2016 Exercise 5 E5 Fixed-wing Control and Simulation 13.12.2016 Case Studies 3 L13 Fixed-wing Case Study 20.12.2016 Summery and Outlook L14 Summery; Wrap-up; Exam Robot Dynamics - Introduction 20.09.2016 13
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) http://link.springer.com/referencework/10.1007/978-3-540-30301-5 Robotics Modelling, Planning and Control (Siciliano, Sciavicco, Villani, Oriolo) http://link.springer.com/book/10.1007%2f978-1-84628-642-1 Robot Dynamics - Introduction 20.09.2016 14
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 20.09.2016 15
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 20.09.2016 16