An introduction to robotics / Advanced robotics

Fall 2023 (First year PhD)

Context

During the fall 2023, I had the opportunity to co-supervise (with Vincent Bonnet) practical sessions of the courses Introduction to robotics and Advanced robotics at the University Institute of Technology of Toulouse (IUT). Students where respectively in their second and third years of higher education with majors in electrical engineering and Industrial Information (GEII).

Content of the course

Introduction to robotics

This course was mainly organised around the simulator Copelliasim in order to introduce the classical modelisation of robots. A python interface has also been introduced to the students along with methods and good practices to control robots.

Advanced to robotics

This courses takes place a year after the first one and reuses the concept previously introduced. It aims at going further into the understanding of the motion of robots. The notions of direct geometric model, inverse geometric model, direct forward kinematics and inverse forward kinematics are specifically developped along with methods for computing reference trajectories and calibrating robot. This courses ends with a longer project where students can work on robots Staubli, Kuka and Scara.