Mechanics of robots (UB UB MHT7)
University of Belgrade
ECTS: 5.0
Contents of lectures
Fundamentals of Point and Rigid Mechanics. Basic structures of robotic systems.
Robot kinematics (coordinate systems and their transformations, homogeneous
transformation, Denavit-Hartenberg notation, Jacobian, analytical and numerical
calculating the Jacobian, solving direct and inverse kinematic problems).
Robot dynamics (analysis of the action of forces and formation of a dynamic model). Basic
subsystems and components of robotic systems.
Basics of gait of bipedal systems. Additional examples of specific robotic systems.
Contents of exercises
Learning through the implementation of practical tasks in the field of robot mechanics.
Prerequisite
Goal
The goal of the course is for the student to learn basic terms and definitions through this course
mechanics as the science of forces, that is, movement.
The expected outcome of the course is for the student to understand what forces are involved in the movement of a robot
systems occur and recognizes the different effects of their action. way to satisfy
defined technical requirements for the application of electric and magnetic actuators.
Literature
1. B. Borovac, M. Raković, Osnove mehanike robota (u pripremi)
2. M. Spong, S. Hutchinson, M. Vidyasagar, Robot Modelling and Control, John Wiley&
Sons, Inc., ISBN-100-471-649
3. L. Sciavicco, B. Sicilijano, Modelling and control of robot manipulators, Springer - Verlag,
ISBN 1-85233-221-2