Lecture presentations (in Slovak)
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Kinematics - Introduction
(pdf)
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Kinematics - Joint-based structures
(pdf)
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video1,
video2,
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Kinematics - Wheel-based structures
(pdf)
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video1,
video2
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Motion control
(pdf)
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ROS (Robot Operating System)
(pdf)
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Navigation
(pdf)
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Environment modelling
(pdf)
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Localization
(pdf)
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Path planning
(pdf)
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Motivational material
Final exam topics
- Kinematics - introduction
- position and translation
- orientation and rotation
- homogeneous transformations
- ex: rotations
- ex: composition of translation and rotation
- Kinematics - joint structures
- joints and their types
- lower pair joints
- denavit-hartenberg representation
- ex: derivation of homogenous matrix for D-H
- ex: D-H for rotational/prismatic joints combinations
- direct kinematics problem and its solution
- ex: derivation for an arm with three rotational joints
- FABRIK method for inverse kinematics
- Kinematics - wheeled structures
- wheel type and geometry
- stability, maneuverability and controllability
- mobile robots kinematics
- direct kinematics model of a simple differential robot
- kinematic wheel constraints (differential robot - left wheel, right wheel)
- ex: correspondence between kinematic model and constraints
- ex: circle movement
- Environment modeling
- model characteristics
- occupancy grid maps
- update formula for OG
- usage of lidar/sonar for model building
- line maps
- topological maps
- landmark maps
- Localization
- localization characteristics and tasks
- odometry and uncertainty
- odometry formula for a simple differential robot
- odometry errors
- map-based localization
- belief and probabilistic robotics
- markov localization
- formulas for markov localization
- landmark/beacon-based localization
- Path planning
- characteristics and basic approaches
- configuration space
- graph construction methods
- avoiding obstacles
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