Robotics

6 subjects · 12 chapters · 48 topics

1. 01

   Robotics Foundations

   1.1 Introduction

   • Types of robots and applications
   • Anatomy of a robot
   • Degrees of freedom
   • Workspace and reachability

   1.2 Mathematics

   • Coordinate frames and transformations
   • Rotation matrices and quaternions
   • Homogeneous transforms
   • Linear algebra refresher
2. 02

   Mechanics and Kinematics

   2.1 Kinematics

   • Forward kinematics
   • Denavit-Hartenberg parameters
   • Inverse kinematics
   • Singularities

   2.2 Dynamics and actuation

   • Robot dynamics basics
   • DC, servo and stepper motors
   • Gears and transmission
   • Grippers and end effectors
3. 03

   Sensing

   3.1 Sensors

   • Encoders and IMUs
   • Ultrasonic and infrared
   • LiDAR
   • Cameras and depth sensors

   3.2 Perception

   • Sensor fusion
   • Basic computer vision for robots
   • Object detection and pose
   • Calibration
4. 04

   Control

   4.1 Control systems

   • Open and closed loop
   • PID control and tuning
   • State-space basics
   • Stability

   4.2 Motion planning

   • Path versus trajectory
   • Configuration space
   • A* and RRT
   • Obstacle avoidance
5. 05

   Programming Robots

   5.1 ROS

   • ROS architecture: nodes, topics, services
   • Publishers and subscribers
   • Launch files and parameters
   • Simulation with Gazebo

   5.2 Navigation and manipulation

   • SLAM basics
   • Localisation
   • Mapping and costmaps
   • Pick-and-place pipelines
6. 06

   Building and Project

   6.1 Practical build

   • Selecting components
   • Wiring and power
   • Microcontroller integration
   • Testing safely

   6.2 Capstone

   • Defining the robot's task
   • Building and programming it
   • Evaluating performance
   • Demonstration and report