MSc: Advanced Robotics - Revision history

R.sirgalina at 08:48, 29 August 2022

2022-08-29T08:48:29Z

R.sirgalina: /* Advanced Robotics */

2022-07-13T07:34:10Z

Advanced Robotics

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 * <span>'''Course name:'''</span> Advanced Robotics
 * <span>'''Course number:'''</span>
 == Prerequisites ==
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 * Screw theory.
 * Product of Exponents (PoE)
 == Recommendations for students on how to succeed in the course ==
@@ Line 43: / Line 43: @@
 * Kick start your numpy with the official [https://numpy.org/doc/stable/user/quickstart.html quickstart guide].
 * Statistics for Applications
 * Dimentberg, F. M. (1965) [http://oai.dtic.mil/oai/oai?verb=getRecord&metadataPrefix=html&identifier=AD0680993 The Screw Calculus and Its Applications in Mechanics]

R.sirgalina: /* What is the purpose of this course? */

2022-07-13T06:40:11Z

What is the purpose of this course?

← Older revision		Revision as of 06:40, 13 July 2022
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	While traditional robotics studies rigid robots and manipulators, many practical robotic systems exhibit non-negligible compliance. Its effects can be both detrimental (for instance, decrease in positioning accuracy of industrial manipulators) and beneficial (improved safety during human-robot interaction), depending on the application. However, regardless of whether the robot’s compliance is positive or negative, it must be accurately accounted for during modeling, trajectory tracking and robot control tasks. The main purpose of this course is to introduce elastostatic modeling of manipulators and robotic systems, methods for calibration of these devices, as well as advanced approaches to control robotic systems with non-negligible stiffness.		While traditional robotics studies rigid robots and manipulators, many practical robotic systems exhibit non-negligible compliance. Its effects can be both detrimental (for instance, decrease in positioning accuracy of industrial manipulators) and beneficial (improved safety during human-robot interaction), depending on the application. However, regardless of whether the robot’s compliance is positive or negative, it must be accurately accounted for during modeling, trajectory tracking and robot control tasks. The main purpose of this course is to introduce elastostatic modeling of manipulators and robotic systems, methods for calibration of these devices, as well as advanced approaches to control robotic systems with non-negligible stiffness.
−
−

	== Recommendations for students on how to succeed in the course ==		== Recommendations for students on how to succeed in the course ==

M.petrishchev: /* Course Objectives Based on Bloom’s Taxonomy */

2022-04-26T08:01:46Z

Course Objectives Based on Bloom’s Taxonomy

← Older revision		Revision as of 08:01, 26 April 2022
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	== Course Objectives Based on Bloom’s Taxonomy ==		== Course Objectives Based on Bloom’s Taxonomy ==

−	=== - What should a student remember at the end of the course? ===	+	=== What should a student remember at the end of the course? ===

	By the end of the course, the students should be able to remember		By the end of the course, the students should be able to remember
Line 60:		Line 60:
	* Motivation behind energy-based approaches to control elastic robots.		* Motivation behind energy-based approaches to control elastic robots.

−	=== - What should a student be able to understand at the end of the course? ===	+	=== What should a student be able to understand at the end of the course? ===

	By the end of the course, the students should be able to describe and explain		By the end of the course, the students should be able to describe and explain
Line 70:		Line 70:
	* How to model and control tendon-driven robots.		* How to model and control tendon-driven robots.

−	=== - What should a student be able to apply at the end of the course? ===	+	=== What should a student be able to apply at the end of the course? ===

	By the end of the course, the students should be able to		By the end of the course, the students should be able to

R.akhmetzyanov: /* Prerequisites */

2022-04-22T13:28:23Z

Prerequisites

← Older revision		Revision as of 13:28, 22 April 2022
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	* Google Colab environment.		* Google Colab environment.
	* [https://eduwiki.innopolis.university/index.php/BSc:_Mathematical_Analysis_I CSE201] — Mathematical Analysis I		* [https://eduwiki.innopolis.university/index.php/BSc:_Mathematical_Analysis_I CSE201] — Mathematical Analysis I
−	* [CSE203] — Mathematical Analysis II: differentiation, exponentials, gradient.	+	* [https://eduwiki.innopolis.university/index.php/BSc:_Mathematical_Analysis_II CSE203] — Mathematical Analysis II: differentiation, exponentials, gradient.
	* [https://eduwiki.innopolis.university/index.php/BSc:_Analytic_Geometry_And_Linear_Algebra_I1 CSE202] — Analytical Geometry and Linear Algebra I		* [https://eduwiki.innopolis.university/index.php/BSc:_Analytic_Geometry_And_Linear_Algebra_I1 CSE202] — Analytical Geometry and Linear Algebra I
	* [https://eduwiki.innopolis.university/index.php/BSc:_Analytic_Geometry_And_Linear_Algebra_II CSE204] — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.		* [https://eduwiki.innopolis.university/index.php/BSc:_Analytic_Geometry_And_Linear_Algebra_II CSE204] — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.

R.akhmetzyanov: /* Advanced Robotics */

2022-04-22T13:26:51Z

Advanced Robotics

@@ Line 5: / Line 5: @@
 * <span>'''Course name:'''</span> Advanced Robotics
 * <span>'''Course number:'''</span>
 == Course characteristics ==
@@ Line 21: / Line 36: @@
 While traditional robotics studies rigid robots and manipulators, many practical robotic systems exhibit non-negligible compliance. Its effects can be both detrimental (for instance, decrease in positioning accuracy of industrial manipulators) and beneficial (improved safety during human-robot interaction), depending on the application. However, regardless of whether the robot’s compliance is positive or negative, it must be accurately accounted for during modeling, trajectory tracking and robot control tasks. The main purpose of this course is to introduce elastostatic modeling of manipulators and robotic systems, methods for calibration of these devices, as well as advanced approaches to control robotic systems with non-negligible stiffness.
 == Recommendations for students on how to succeed in the course ==

M.petrishchev: /* Prerequisites */

2022-04-21T06:59:13Z

Prerequisites

← Older revision		Revision as of 06:59, 21 April 2022
Line 27:		Line 27:
	* Matlab or Python, Numpy library,		* Matlab or Python, Numpy library,
	* Google Colab environment.		* Google Colab environment.
−	* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.	+	* [https://eduwiki.innopolis.university/index.php/BSc:_Mathematical_Analysis_I CSE201] — Mathematical Analysis I and [CSE203] — Mathematical Analysis II: differentiation, exponentials, gradient.
−	* CSE202 — Analytical Geometry and Linear Algebra I and CSE204 — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.	+	* [https://eduwiki.innopolis.university/index.php/BSc:_Analytic_Geometry_And_Linear_Algebra_I1 CSE202] — Analytical Geometry and Linear Algebra I and CSE204 — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.
−	* CSE402 — Physics I (Mechanics) and CSE410 — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.	+	* [https://eduwiki.innopolis.university/index.php/BSc:_Physics_I CSE402] — Physics I (Mechanics) and [https://eduwiki.innopolis.university/index.php/BSc:_Physics_II CSE410] — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.
	* Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation		* Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation
	* Screw theory.		* Screw theory.

R.akhmetzyanov: /* Prerequisites */

2022-04-19T07:09:46Z

Prerequisites

← Older revision		Revision as of 07:09, 19 April 2022
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	Programming:		Programming:
−	* Matlab or Python,	+	* Matlab or Python, Numpy library,
−	* Numpy library,
	* Google Colab environment.		* Google Colab environment.
	* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.		* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.

R.akhmetzyanov: /* Prerequisites */

2022-04-18T10:27:00Z

Prerequisites

← Older revision		Revision as of 10:27, 18 April 2022
Line 30:		Line 30:
	* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.		* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.
	* CSE202 — Analytical Geometry and Linear Algebra I and CSE204 — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.		* CSE202 — Analytical Geometry and Linear Algebra I and CSE204 — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.
		⚫	* CSE402 — Physics I (Mechanics) and CSE410 — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.
		⚫	* Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation
	* Screw theory.		* Screw theory.
	* Product of Exponents (PoE)		* Product of Exponents (PoE)
⚫	* CSE402 — Physics I (Mechanics) and CSE410 — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.
⚫	*Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation

	== Recommendations for students on how to succeed in the course ==		== Recommendations for students on how to succeed in the course ==

R.akhmetzyanov: /* Prerequisites */

2022-04-18T08:50:03Z

Prerequisites

← Older revision		Revision as of 08:50, 18 April 2022
Line 27:		Line 27:
	* Matlab or Python,		* Matlab or Python,
	* Numpy library,		* Numpy library,
−	* Google Colab environment.	+	* Google Colab environment.
		⚫	* CSE201 — Mathematical Analysis I and CSE203 — Mathematical Analysis II: differentiation, exponentials, gradient.
−
		⚫	* CSE202 — Analytical Geometry and Linear Algebra I and CSE204 — Analytic Geometry And Linear Algebra II: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.
−	Mathematics:
−	* [https://eduwiki.innopolis.university/index.php/BSc:MathematicalAnalysisI CSE201 — Mathematical Analysis I]
⚫	* ~~[https://eduwiki.innopolis.university/index.php/BSc:MathematicalAnalysisII~~ CSE203 — Mathematical Analysis II]: differentiation, exponentials, gradient.
−	* [https://eduwiki.innopolis.university/index.php/BSc:AnalyticGeometryAndLinearAlgebraI CSE202 — Analytical Geometry and Linear Algebra I]
⚫	* ~~[https://eduwiki.innopolis.university/index.php/BSc:AnalyticGeometryAndLinearAlgebraII~~ CSE204 — Analytic Geometry And Linear Algebra II]: matrix multiplication, change of the bases, orthonormal spaces, cross product and skew-symmetric matrices, eigenvector and eigenvalue, SVD.
	* Screw theory.		* Screw theory.
	* Product of Exponents (PoE)		* Product of Exponents (PoE)
		⚫	* CSE402 — Physics I (Mechanics) and CSE410 — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.
−
−	Physics
−	* [https://eduwiki.innopolis.university/index.php/BSc:PhysicsI CSE402 — Physics I (Mechanics)]
⚫	* ~~[https://eduwiki.innopolis.university/index.php/BSc:PhysicsII~~ CSE410 — Physics II - Electrical Engineering]: Kinematics, Statics and Dynamics.
−
	*Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation		*Statistics: Linear regression, .Covariance matrix, Information matrix, Observability matrix, Design of Experiments, Statistical evaluation

		+	== Recommendations for students on how to succeed in the course ==
	References:		References:
	* Any text book on Linear algebra, Calculus, Statistics, Programming and Physics		* Any text book on Linear algebra, Calculus, Statistics, Programming and Physics