Introduction to robotics
Also listed as: מבוא לרובוטיקה
Kinematics, the Jacobian, trajectories and dynamics. It is also the mandatory gate to the robotics lab, so it has to be taken in the fall before the lab you want in the spring.
- Semester
- Semester A
- Weekly hours
- 3h
- Counts as
- Department electives
- Interest areas
- Mechatronics and robotics · Mechanical design
Comes after
- Rigid body dynamics
- Linear algebra
What it covers
Kinematics
- Rigid-body motion, rotations, homogeneous transforms
- Forward kinematics by the Denavit–Hartenberg convention
- Inverse kinematics: geometric and algebraic, kinematic decoupling, the spherical wrist
- Velocity kinematics and the Jacobian, singularities, manipulability, pseudoinverse
- Statics and force transmission
Motion and control
- Trajectory generation: joint-space polynomials, trapezoidal profiles
- Dynamics by Euler–Lagrange and Newton–Euler
- Introduction to control: PD and computed torque
- Introduction to mobile robots, sensing and vision
Results worth carrying out
Forward kinematics
Velocity kinematics
Manipulator dynamics
Figures worth knowing
- Denavit–Hartenberg frame assignments
- Workspace plots
- Jacobian singularity sketches
- Trajectory profiles
Related courses
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Applied project in mechanical engineering
פרויקט יישומי בהנדסת מכונות
An industry-mentored project rather than a research one. Less thesis value, and it converts into an internship or a first job at the host company more often than anything else in the catalogue.
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Research project for honours students 1
פרויקט מחקר למצטיינים 1
The honours research project, and the most direct on-ramp to a thesis in the catalogue. You pick a supervisor, produce results, and frequently continue the same problem into a masters.
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Research project for honours students 2
פרויקט מחקר למצטיינים 2
The continuation of the honours project, where the results get deep enough to defend. Under the direct track this is already the first part of the masters thesis.
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Theory of machines
תורת המכונות
Linkages, cams and gears analysed and then synthesised. The course that makes a mechanism something you can specify rather than something you copy.
Mechanical designMechatronics and robotics
We also write the summaries.
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The topic outlines are not official syllabi. The university publishes a catalogue blurb per course, not lecture-by-lecture material, so each outline describes what a course of that name, at those hours, with those prerequisites teaches at engineering schools generally, cross-checked against the standard textbook for the subject. Treat it as an informed map, not as a transcript of the lectures.