We will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing.
The primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems.
The course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics.
Prerequisites / Notice
The contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics.
Performance assessment information (valid until the course unit is held again)
The performance assessment is offered every session. Repetition possible without re-enrolling for the course unit.
Mode of examination
written 120 minutes
Additional information on mode of examination
During the semester, two interim examinations will be offered to help students assess their Robot Dynamics performance. These may improve the final grade if: - the grades of both interim exams (IE) are better than the final exam: final exam grade 70% + first IE grade 15% + second IE grade 15%. - only one IE grade is better than the final exam: final exam grade (85%) + better IE grade (15%). - otherwise, only the final exam grade counts.
4 A4-pages personal summary + calculator
This information can be updated until the beginning of the semester; information on the examination timetable is binding.