Ceci est une ancienne révision du document !


19H15 + 12H

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)