Technologies de l’Information pour la Santé

31H15

Coefficient 2

There is two part in this course.

First part: manipulator robot modelling

• Rigid-Body mechanics (rotation, transformations, motion…)
• Description of Robotic manipulators (kinematic chains, Modified Denavit-Hartenberg parameterization…)
• Robotic manipulators modelling (direct, inverse, differential kinematics…)

Second part: manipulator robots command

• Motion generation
• Technology (motorization, position measurement, variable speed drive)
• Command (point to point, with imposed operational movement)

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