Workshops Syllabus 2324

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francescodelduchetto edited this page Jan 28, 2025 · 2 revisions

Syllabus

Week 1:

Introduction to ROS2 (PC based - INB1101)

*Preparation Materials

Setup your workstation
What is ROS and first concepts presentation (need to be already logged in blackboard)
Using ROS from the command line
Write your first ROS node

Week 2:

Design a robotic system in ROS (PC based - INB1101)

*Preparation Materials

Week 3:

Direct and inverse kinematics (Tutorial - INB1101)

NOTE: Bring pen and paper!

*trigonometric Identities Cheatsheet

Week 4:

Programming robots in ROS (PC based - INB1101)

Week 5:

Programming and control of a real robotic manipulator (Lab based - INB1101)

Week 6:

Differential kinematics and Planning (Tutorial - INB1101)

NOTE: Bring pen and paper!

Derive Jacobian matrices for 2, 3 and 6 DOF arms.
Trajectory planning with 2 and 6 DOF arms.
Implementation of trajectory planning for a 6 DOF robot.

Week 7:

Review of: Programming and control of a real robotic manipulator (Lab based - INB1101)

Review of week 5

Week 8:

Robot simulation and programming (PC based - INB1101)

ROS2 + Gazebo

Week 9:

Joint trajectory

Week 10:

Using the gripper and putting everything together

Simulation of final assessment with simple and incomplete example code

Week 11:

Assessment 2 DEMOS

Week 12:

Credits

Parts for the workshops are extracted, edited from and/or inspired by the following sources.

Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/