- All the lecture notes listed in the schedule. Both from the main courses and guest lecturers.
- The following course book chapters, which were mentioned in the lectures:
Note: The chapter numbering is from Spong 2005, chapter numbering might be different in Spong 2020. (Refer to the table below)- Chapter 1 – Introduction
- Chapter 2 - Rigid Motions and Homogeneous Transformations
- Chapter 3 - Forward and Inverse Kinematics
- Chapter 4 - Velocity Kinematics - The Jacobian
- Chapter 6 - Independent Joint Control
- Chapter 7 - Dynamics
- For IN4140 the following chapters are also mandatory syllabus and are left as self-study:
- Chapter 5 - Path and Trajectory Planning
- Chapter 9 - Force Control
- Chapter 11 - Computer Vision
- Chapter 12 - Vision-based Control
|
Topic |
Robot Modelling and Control - 2005 |
Robot Modelling and Control - 2020 |
|
Introduction |
Chapter 1 |
Chapter 1 |
|
Rigid Motions and Homogeneous Transformations |
Chapter 2 |
Chapter 2 |
|
Forward Kinematic |
Chapter 3 |
Chapter 3 |
|
Inverse Kinematic |
Chapter 3 |
Chapter 5 |
|
Velocity Kinematics - The Jacobian |
Chapter 4 |
Chapter 4 |
|
Independent Joint Control |
Chapter 6 |
Chapter 8 |
|
Dynamics |
Chapter 7 |
Chapter 6 |
|
For IN4140 (Master Students Only) |
||
|
Path and Trajectory Planning |
Chapter 5 |
Chapter 7 |
|
Force Control |
Chapter 9 |
Chapter 10 |
|
Computer Vision |
Chapter 11 |
computer vision |
|
Vision-based Control |
Chapter 12 |
Chapter 11 |
Main syllabus:
Mark W. Spong, Seth Hutchinson, M. Vidyasagar: Robot Modeling and Control, 2005. Wiley. ISBN: 978-0-471-64990-8.
/
Mark W. Spong, Seth Hutchinson, M. Vidyasagar: Robot Modeling and Control, 2020. Wiley. ISBN: 978-1-119-52399-4.
Support Literature:
John Craig: Introduction to Robotics, Prentice Hall. ISBN: 0-13-123629-6.