Advanced robotics
Undergraduate Course, IUT GEII, Université Paul Sabatier, 2025
Spring 2025 (Second year PhD)
Context
During spring 2025, I continued the course co-supervised with Martin Mujica during fall 2024. I gave practical sessions of the course Advanced robotics at the University Institute of Technology of Toulouse (IUT). Students where third year of higher education with major in electrical engineering and Industrial Information (GEII).
Content of the course
Advanced to robotics
This courses aims at going further into the understanding of the motion of robots. Different controls were studied on a simple 1 DOF robot. The students implemented gravity compensation, PID controlers and force control, first in a simulation and then on a real robot. This courses ends with a longer project where students worked on a 3-DOF robot and implement the controllers studied before. They also worked on controlling a motor for the end effector, simulating a sanding task where force control is required. Some students also worked on a teleoperation problem by reading the position in one robot and controlling the other robot somewhere else in the room.