Department of Electrical Engineering

https://www.univ-soukahras.dz/en/dept/ge

Lecturer	Yahia KOURD
Information	Master - Automatique Department of Electrical Engineering Website : https://www.univ-soukahras.dz/en/module/3922 Semester : S3 Unit : UEF 2.1.1 Credit : 4 Coefficient: 2
Content	2 496 / 5 000 I-Introduction (1 week) • 1. Definition and history • 2. Different categories of robots • 3. Robotics vocabulary • 4. Characterization of robots • 5. The different types of manipulator robots • 6. Use of robots • 7. Future of robotics II- Theoretical foundations and preliminary mathematics (2 weeks) • 1. Positioning 1.1. Rotation 1.2. Rotation representations 1.3. Attitude 1.4. Homogeneous transformation matrices • 2. Cinematics 2.1. Speed of a solid 2.2. Rotation speed vector 2.3. Rigid movement 2.4. Kinematic torque and speed composition III- Modeling a manipulator robot (3 weeks) • 1. Geometric model •Denavit-Hartenberg Convention • Direct geometric model • Inverse geometric model • 2. Kinematic model •Direct analysis (use of direct Jacobian) •Reverse analysis (use of the inverse Jacobian) •Notion of Singularity • 3. Dynamic model •Formalisms for dynamic modeling •Lagrange method: Lagrange equation, matrix representation (inertia matrix, Coriolis matrix, gravity matrix). • Example (Plane robot with 1 or 2 DOF) IV- Trajectory generation (3 weeks) • generation of trajectories and control loops • generation of point-to-point movement: basic method, acceleration profile method, speed profile method, application in joint space, application in Cartesian space. • Generation of movement by interpolation: application in joint space and Cartesian space V- Ordering robots (3 weeks) • 1. Dynamic control • 2. Control by sliding mode VI- Robot programming (3 weeks) • 1. Generalities and objectives of programming systems • 2. Programming methods • 3. Characteristics of different programming languages
Evaluation	Contrôle continu : 40% ; Examen : 60%