Lab in robotics and systems control
Also listed as: מעבדה ברובוטיקה ובקרה של מערכות
Kinematics and control implemented on a real arm, with the sensors, calibration and failure modes that simulation hides. ROS experience out of this lab is directly hireable.
- Semester
- Semester B
- Weekly hours
- 3h
- Counts as
- Advanced laboratories
- Interest areas
- Mechatronics and robotics
Comes after
Opens up
- Graduate robotics and autonomy research
What it covers
What you build
- Forward and inverse kinematics on physical hardware
- Trajectory generation and execution
- Joint-space and task-space control, PID and computed torque
- Sensor integration: encoders, vision, perception in the loop
- Calibration and the errors it does not remove
- Embedded control implementation
- A capstone task: pick-and-place, line following or manipulation
Results worth carrying out
Computed-torque control
Task-space velocity
Figures worth knowing
- Denavit–Hartenberg frame diagrams
- Workspace plots
- Trajectory and tracking-error plots
Related courses
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אלקטרוניקה בסיסית
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מבוא לעיבוד אותות
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אלקטרוניקה בסיסית להנדסה מכנית
The electronics literacy a mechanical engineer needs to instrument anything. Rarely a job title on its own, and a hard prerequisite for being useful in mechatronics, robotics or sensing.
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מבוא לעיבוד ספרתי של אותות
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Mechatronics and roboticsMiniaturised systems and materials
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