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Robotic design involves modeling the behavior of a robot mechanism when it moves along potential paths set by the users. In this lecture, we will first give an overview of different approaches to design a set of kinematic equations associated with a robot mechanism. In particular, these equations can be used to solve the forward and the backward kinematics problems associated with a robot mechanism or to model its singularity locus. Then we will review methods to solve those equations, and notably methods to draw with guarantees the real solutions of an under-constrained system of equations modeling the singularities of a robot.[-]
Robotic design involves modeling the behavior of a robot mechanism when it moves along potential paths set by the users. In this lecture, we will first give an overview of different approaches to design a set of kinematic equations associated with a robot mechanism. In particular, these equations can be used to solve the forward and the backward kinematics problems associated with a robot mechanism or to model its singularity locus. Then we will ...[+]

68T40 ; 65G20 ; 68W30 ; 65Dxx

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