Course
Basic Kinematics of Mobile Robots
Understand the concepts of rigid motions in 3D space, and learn the movement equations for holonomic and non-holonomic robots
Course Overview
Description
This course will teach you the basic motion equations required to work with robots.
You will understand the different types of movement, orientation and equations that describe movement of wheeled robots, as well as, how to make a wheeled robot follow a trajectory.
You will be learning the mathematical equations, but also program them in the simulated robots, so you will be able to see the results on an actual robot.
The final project will ask you to apply all that knowledge to create a program to make a floor cleaner robot cover the whole space and clean it.
Learning Objectives
- Learn and understand rigid body motions in 3D:
- Frames of reference
- Rotations in 3D
- Homogeneous Transformations
- Kinematics for non-holonomic robots
- Kinematics for holonomic robots
- Kinematics control
Simulation robots used in this course
Turtlebot 2 and Neobotix MPO-500.
Level
Beginners
Duration
14h
Prerequisites
Linux Basics, Python Basics, ROS Basics, Mathematics for Robotics
This course is part of this learning path:
Intro to Robot Programming
4 weeks
What projects will you be doing?
Non-Holonomic Motion
Program the equations of a wheeled robot
Car-Like Kinematics
Understand the kinematic equations of car-like robots
Odometry Computation
Compute and visualize odometry for holonomic, non-holonomic and car-like
Program a Floor Cleaning Robot
On the final project, program a Roomba robot to cover the whole space while cleaning
What you will learn
Course Syllabus
Unit 1: Introduction
Presents the objectives of this course on kinematics for wheeled robots, and the learning methods and tools. It ends with a short demo with Turtlebot 2 robot.
15 mins.
Unit 2: Rigid Body Motions
In this Unit, you will learn the basic concepts for representing the position and orientation of rigid bodies in 3D:
- Frames of reference
- Representing positions
- Representing rotations
- Rotational transformations
- Composition of rotations
- Parameterization of rotations
- Homogeneous transformation matrices
3 hr.
Unit 3: Kinematics of Non-Holonomic Robots
In this unit, you will learn about the kinematics of nonholonomic mobile robots. Specifically, you will learn about:
- The kinematic model of the Unicycle robot
- The kinematic model of the Differential Drive robot
- The kinematic model of the Car-Like robot
- Odometry
3 hr.
Unit 4: Kinematics of Holonomic Robots
In this unit, you will learn about the kinematics of holonomic robots. Specifically, you will learn about:
- Kinematic model of a holonomic robot
- Motion with respect to the robot’s frame
- Motion with respect to the world’s frame
1 hr.
Unit 5: Kinematic Control
In this unit, you will learn about kinematic control of mobile robots. Specifically, you will learn about:
- Open Loop control
- Feedback Control
1 hr.
Unit 6: Course Project - Floor Cleaning Robot
In this final unit, you are going to program a mobile robot for an automated floor cleaning task.
6 hr.
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What’s next
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