Introduction

History, Definitions, Robotic systems design, Applications.

Coordinate Systems

Cartesian coordinates, Degrees of freedom, Reference frames, orientation, Bi-dimensional and tridimensional transformation matrices, Relative and general transformations, Homogeneous transformations, Inverse transformations, Graphs.

Robots Systems and Structures

Robot architectures, Technical concepts of robotics, Actuation.

Robot Kinematics (position)

Joints, Members, Reference frames, Amatrices, Direct and inverse kinematics, Trigonometric solution, Precision, Efficiency/complexity of kinematic solutions.

Robot Kinematics (velocity and acceleration)

Derivatives, Velocity and acceleration of rigid bodies, Differential movement, Jacobian, Singularities.

Sensors and Perception

Internal and external sensors, Sensors hierarchy, Interfaces, data fusion, Classification, Localization, Machine vision, Applications.

Control

Classical approaches for robot control, Feedback loops, Position and force control, Compliance, Fuzzy logic control.

Task and Path Planning

Action-level planning, Modeling, Motion planning in R- space and C-space, Path tracking.

Different Types of Robots

Legged robots and Zero Momentum Point (ZMP), Humanoid robots, Robots, Middle sized and small sized soccer robots.