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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

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

6 Feb 25

0. Setup your workstation
1. Frame transformations in ROS

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

13 Feb 25

0. Setup your workstation
1. Design a robot arm in ROS
2. Analyse a 6-DOF arm definition

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Week 4: Direct kinematics pen&paper and implementation

20 Feb 25

0. Setup your workstation
1. Solve direct kinematics for a 6DOF arm
2. Implement direct kinematics for a 6DOF arm

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Week 5: Inverse kinematics pen&paper

27 Feb 25

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

ℹ️ Trigonometric Identities Cheatsheet

✔️ Workshop notes with solutions

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NO SESSION - Enhancement week: 6 Mar 25

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Week 6: Inverse kinematics: MoveIt solutions and bespoke implementation

13 Mar 25

0. Setup your workstation
1. Inverse Kinematics with Moveit!
2. Inverse Kinematics implementation

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Week 7: Continuation of Inverse Kinematics Implementation & Differential kinematics

20 Mar 25

0. Setup your workstation
1. Inverse Kinematics implementation
2. Differential Kinematics

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Week 8: Trajectory Planning

27 Mar 25

0. Setup your workstation
1. Path planning
2. Trajectory planning

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Week 9: Trajectory Planning - part 2

3 Apr 25

0. Setup your workstation
1. Trajectory planning with Trapezoidal Velocity Interpolator

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Week 10: Simulation with Gazebo and Trajectory Planning continuation

10 Apr 25

0. Setup your workstation
1. Simulation with Gazebo
2. Complete tasks in week 8 and 9

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NO SESSIONS - Easter break: 17 & 24 Apr 25

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Week 11: Support for final project

1 May 25

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Week 12: Mobile robotics in ROS (LIMO robot)

8 May 25