For many applications, a precise knowledge of the model of the robot is necessary for accurate and stable control. However, it is not always feasible or desirable to perform from scratch an in-depth study of the robot model, especially if it is not …
Rehabilitation promoting "assistance-as-needed" is considered a promising scheme of active rehabilitation, since it can promote neuroplasticity faster and thus reduce the time needed until restoration. To implement such schemes using robotic devices, …
Update: added some nice pictures from the lab and the robots
There is a small paradox at our department: we are teaching robotics to students, but we used to not have any robots around for them to play with. We actually did have one, that is very very dangerous to use close to people, so I slowly slowly phased it out of use.
But I had to find an alternative: a small, versatile, cheap, robot arm, that we could buy multiples of it and have one for each table of the laboratory. That was how the dream started, and finally, today, this dream came true! Today I finished assemblying and installing the 10th AL5D robot arm in our laboratory!
For quite some time now, I wanted to create a robot model to use it in the classroom. I started imagining it as a 3D printed model, then thought of making it out of styrofoam, converted the idea to carton, but was always stopped by the lack of materials around. Also, the fact that we’ve been teaching online for the past year and a half was not helping.
Last week, I thought of wood. And the moment I thought about it I was wondering how come I didn’t think about this all this time! It is the obvious solution, as there is always wood scraps readily available that I am saving from other projects, plus I have the tools to work with it. So, I spent ~2 years thinking about this, and eventually it took me around 20’ to make it! Here is the result.
Even though I am usually not fond of information transmitted over the audio, for some reason I was fascinated by the idea of podcasts ever since I first heard of it. But somehow, I never find the time to listen to the podcasts that I seem to care about, so the unread episodes just keep on pilling and pilling. This week, I decided to dedicate it to podcasts and listen to everything that was on my list. So, every time I had a few idle minutes, I fired up my podcast app (AntennaPod for Android) and selected the next one on the list.
One of the things that always excited me, even as a young student, was to be able to explain things that we learned at school/university at my colleagues. And one of the reasons for choosing an academic career was because of this internal drive to explain to others. You can imagine then that teaching for me is not a secondary obligation as an academic, but it is part of the fun part of it!
This pages gathers all the relevant information for the Robotic Systems Control course, laboratory, and project work. This is course 47.00 taught at Automation department of UTCluj on the winter semster of the academic year 2023-2024.
Lectures You can download the presentations for each lecture below. Check the ’last update’ date on the first slide, to know if the slides have been recently updated.
Lecture 00 (Introduction) Lecture 01 (Mathematical Background) Lecture 02 (Forward Kinematics) Lecture 03 (Denavit-Hartenberg Convention) Lecture 04 (The Jacobian) Lecture 05 (Inverse Kinematics) Lecture 06 (Trajectories) Lecture 07 (Dynamic Modeling I) Lecture 08 (Dynamic Modeling II) Lecture 09 (Controller Design) Advanced Control Methodologies (guest lecture) Lecture 10 (Drone Modeling) Lecture 11 (Mobile Robots Modeling) Lecture 12 (Summary) Some lectures contain animations. These might work on Windows if you are using Acrobat Reader. But if you want them to work for sure, you should switch to Linux and use pdfpc, or PyMpress.