An introduction to robotics / Advanced robotics

Fall 2024 (Second year PhD)

Context

During the fall 2024, I continued giving the courses I already gave the previous year. I worked with Martin Mujica on practical sessions of the course 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

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. In this project, they were asked to fetch parts of a gearbox and assemble them with. One robot would pick the gears are place them in their box, a automatic shutthle would bring the box to an other robot that closes the box then to a third robot (a collaborative robot) that would present the box to the user and ask for confirmation that the assembly is correct.