L11 - Manipulator Control and Dynamics of Constrained Manipulators

12 junho 2023, 10:00 • André Alexandre Da Silva Carvalho

• Application of D'Alembert's Principle to obtain the equations of motion in constrained manipulators.
  
• Discussion of questions relating to the implementation of the Da Vinci's equations of motion and the respective controllers.
  

L9 - Constrained Kinematics and Newton-Euler Formulation

6 junho 2023, 08:00 • André Alexandre Da Silva Carvalho

• D-H Frames construction for the Da Vinci Xi including all of the links, except the wrist.
• Newton-Euler formulation. Matlab implementation for a polar manipulator (Problem 1 on the 9th Set of Problems).

L9 - Constrained Kinematics and Newton-Euler Formulation

5 junho 2023, 10:00 • André Alexandre Da Silva Carvalho

• D-H Frames construction for the Da Vinci Xi including all of the links, except the wrist.
• Newton-Euler formulation. Matlab implementation for a polar manipulator (Problem 1 on the 9th Set of Problems).
  

Control

5 junho 2023, 08:00 • Jorge Manuel Mateus Martins

Centralized Control: PD with gravity compensation. Inverse Dynamics.

Inertial parameters

2 junho 2023, 09:30 • Jorge Manuel Mateus Martins

Inertial Parameters of the da Vinci Xi