Robotics

Robotics is a growing field of modern technology, that is subjected to many advancements nowadays.
The course material is organized in 6 main modules:
  1. Coordinate Transformation
  2. System Modeling (Kinematic Level)
  3. Trajectory Planning 
  4. Controllers and Control Architecture
  5. System Modeling (Dynamic Level)
  6. Extended Topics
​Hope these lectures shed some light on some of these topics.
In this page. Resources for some of my Robotics course lectures sorted by topics will be shared.
Also, some tutorials prepared by my colleagues that help clarify some points described in the lectures are provided as well.

​Hope that someone can find them beneficial. =)
  • A) Coordinate Transformation:
In this section an introduction on robotic systems, applications and challenges is presented. One of these challenges is to determine the position of the robot links and the object that the robot is going to hold accurately. In order to describe an object's pose, the coordinate frames are introduced, in addition to the methods required to transform from a frame to another.
​Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ 
Lecture: Introduction
[Voice: Omar M. Shehata]
Lecture: Coordinate Transformation
[Voice: Omar M. Shehata]
  • Tutorials:​ 
Tutorial: Introduction
[Voice: Dalia Mamdouh]
​Tutorial: Coordinate Transformation
[Voice: Dalia Mamdouh]  
  • B) System Modeling (Kinematic Level):
One of the main challenges of robotic systems is to build the system plant by deriving the equations representing the motion of the robot. In this section, the kinematics of a robotic manipulator is derived by taking into consideration the forward and inverse kinematic levels of the system.
Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ 
Lect: Forward Kinematics 
[Voice: Omar M. Shehata]
Lect: Inverse Kinematics
[Voice: Omar M. Shehata]
Lect: Velocity Kinematics
[Voice: Omar M. Shehata]
Lect: Finalized Kinematics
[Voice: Omar M. Shehata]
  • Tutorials:​ 
Tutorial: Forward Kinematics
[Voice: Dalia Mamdouh]
Tutorial: Inverse Kinematics (01)
[Voice: Dalia Mamdouh]
Tutorial: Inverse Kinematics (02)
[Voice: Dalia Mamdouh]  
Tutorial: Velocity Kinematics
[Voice: Dalia Mamdouh]  
  • C) Trajectory Planning:
The planning of the trajectory required for the robotic system to follow to perform its desirable task is important. The objective of this section is to plan a trajectory from an initial point to a final point for the robot's end-effector to follow, taking into consideration the constraints on the trajectory. Several methods of planning are illustrated.
Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ ​
Lect: Trajectory Planning
[Voice: Omar M. Shehata]



​

​
  • Tutorials:​ ​
Tutorial: Trajectory Planning (01)
[Voice: Dalia mamdouh]  
Tutorial: Trajectory Planning (02)
[Voice: Dalia mamdouh]  
  • D) Controllers and Control Architectures:
To be able to guarantee the desirable performance of Robotic Systems, various control approaches are presented.
In this section several control techniques are discussed and implemented on simple problems.
Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ ​
Lect: Intelligent Controllers (01)
[Voice: Omar M. Shehata]
Lect: Intelligent Controllers (02)
[Voice: Omar M. Shehata]
  • Tutorials:​ ​​
Tutorial: Intelligent Controllers
[Voice: Dalia mamdouh]  ​
  • E) System Modeling (Dynamic Level):
In order to model the robotic system taking into consideration the forces and moments affecting its motion, the dynamic system model of the robot is presented through the derivations of Lagrangian formulation.
Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ ​​
Lect: Dynamics
[Voice: Omar M. Shehata]
  • Tutorials:​ ​​
Tutorial: Dynamics
[Voice: Dalia mamdouh]  ​
  • F) Extended Topics:
Other topics of robotics systems are introduced briefly. These topics include: Parallel Manipulators, External Forces, Null Space Control, Soft Robotics and finally, Machine Learning in Robotics.
Lectures and Tutorials related to this topic are provided under this section.
  • Lectures:​ ​​
Lect: Extended Topics (01)
[Voice: Omar M. Shehata]
Lect: Extended Topics (02)
[Voice: Omar M. Shehata]

Stay Tuned for more.... =)