Overview of robot systems and control architectures, basics of sensors and actuators in robotics, kinematics and dynamics of a rigid-body, recursive algorithms for computation of the kinematics and dynamics of serial kinematic chains, DH-parameters, product of exponentials formula, inverse kinematics, computation of robot dynamics via Lagrangian framework and recursive Newton/Euler algorithms, modeling of kinematic constraints and contact transitions, modeling of robots with parallel kinematics as well as mobile robots, control in configuration- and task-space, introduction to force and impedance control, kinematics and dynamics of kinematically redundant robots.
The contents of this lecture are elaborated and discussed based on written lecture notes. The material is presented on the blackboard and with slides. To deepen, reinforce, and practically apply the material, two laboratory exercises will be conducted with simulations and experiments using the software Matlab/Simulink.