ROBOTICS, VISION AND CONTROL
Corso
A Padova
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Descrizione
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Tipologia
Corso
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Luogo
Padova
The verification of knowledge and skills' expected is carried out with a written test that includes:
a) open questions on the topics seen during the lessons;
b) resolutions of numerical exercises.
In addition, students can optionally take an oral exam to improve the grade obtained in the written test. The oral exam is based on the presentation of a research article assigned by the teacher.
Sedi e date
Luogo
Inizio del corso
Inizio del corso
Opinioni
Programma
REPRESENTATIONS OF POSE
Translations; rotation matrices; Euler angles; quaternions
ROBOTIC MANIPULATORS
Description of the structure of a robotic arm; revolute and prismatic joints; direct kinematics; Denavit-Hartenberg Convention; inverse kinematics; differential kinematics; geometric jacobian; redundancy analysis; inverse differential kinematics; analytical jacobian; static; derivation of the model of a robotic arm using the Lagrangian approach and the Newton-Euler approach; development of control algorithms for trajectories tracking
MOBILE ROBOTS
Holonomic and non-holonomic constraints; derivation of models of unicycles, bicycles and quadricopters; control algorithms for localization and navigation
COMPUTATIONAL VISION
Spectral representation of light and color; imaging formation; image analysis (monodic, dyadic and spatial operations); image feature extraction (region features, line features, point features); elements of computer vision using multiple images (feature correspondence, geometry of multiple views, stereo vision)
ROBOTICS, VISION AND CONTROL
Vision serving algorithms (in particular Position-based Visual Servoing and Image-Based Visual Servoing)
Hai bisogno di un coach per la formazione?
Ti aiuterà a confrontare vari corsi e trovare l'offerta formativa più conveniente.
ROBOTICS, VISION AND CONTROL