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Introduction to Robotics (RBT1001) - workshops materials

Syllabus

Week 1: Introduction to ROS2

30 Jan 25
  1. Setup your workstation
  2. Using ROS from the terminal
  3. Using ROS from Python code

Week 2: Design a robotic system in ROS - part 1

6 Feb 25
  1. Setup your workstation
  2. Frame transformations in ROS

Week 3: Design a robotic system in ROS - part 2

13 Feb 25
  1. Setup your workstation
  2. Design a robot arm in ROS
  3. Analyse a 6-DOF arm definition

Week 4: Direct kinematics pen&paper and implementation

20 Feb 25
  1. Setup your workstation
  2. Solve direct kinematics for a 6DOF arm
  3. Implement direct kinematics for a 6DOF arm

Week 5: Inverse kinematics pen&paper

27 Feb 25
  1. Solve inverse kinematics for a planar arm
  2. Solve inverse kinematics for 6DOF arm

:information_source: Trigonometric Identities Cheatsheet

:heavy_check_mark: Workshop notes with solutions

NO SESSION - Enhancement week: 6 Mar 25

Week 6: Inverse kinematics: MoveIt solutions and bespoke implementation

13 Mar 25
  1. Setup your workstation
  2. Inverse Kinematics with Moveit!
  3. Inverse Kinematics implementation

Week 7: Continuation of Inverse Kinematics Implementation & Differential kinematics

20 Mar 25
  1. Setup your workstation
  2. Inverse Kinematics implementation
  3. Differential Kinematics

Week 8: Trajectory Planning

27 Mar 25
  1. Setup your workstation
  2. Path planning
  3. Trajectory planning

Week 9: Trajectory Planning - part 2

3 Apr 25
  1. Setup your workstation
  2. Trajectory planning with Trapezoidal Velocity Interpolator

Week 10: Simulation with Gazebo and Trajectory Planning continuation

10 Apr 25
  1. Setup your workstation
  2. Simulation with Gazebo
  3. Complete tasks in week 8 and 9

NO SESSIONS - Easter break: 17 & 24 Apr 25

Week 11: Trajectory control with Gazebo

1 May 25
  1. Setup your workstation
  2. Trajectory control with Gazebo
  3. :star: Useful pointers for the final project

Week 12: Support for final project

8 May 25

:star: Some useful pointers for the final project