## DSP716 Robot systems modeling basics

 Code DSP716 Name Robot systems modeling basics Status Compulsory/Courses of Limited Choice Level and type Undergraduate Studies, Academic Field of study Computer Science Faculty Academic staff Agris Ņikitenko, Mikus Vanags, Ieva Zeltmate Credit points 3.0 (4.5 ECTS) Parts 1 Annotation Robotic systems are modeled with different tools and using different development environments. The user can use graphical environment of mentioned tools, but to understand what happens in the background, he needs to know the mathematics. This course is designed to teach robot modeling basics and the dominant topic is rigid body kinematics (movement and rotations). The course also will look at several linked element kinematics, where one element affects another element speed and movement direction.. The course practical part is organized as classroom courses where students will develop computer programs to solve problems covered in theoretical lectures.. Goals and objectives of the course in terms of competences and skills The aim is to provide a basic knowledge of rigid bodies homogeneous kinematics transformations. Objectives: 1) Be able to create a physics engine and being able to implement mathematical transformations of rigid bodies kinematics. 2) Be able to use XNA Game Studio to visually represent kinematics transformations. 3) Be able to use quaternion algebra to describe rotations. 4) Be able to work with multiple linked element kinematic system. Learning outcomes and assessment Be able to solve the homogeneous kinematic transforms in 2D space and be able to use these transformations in 2D computer graphics. - Practical works 2., 3., 4. Exam questions on appropriate topics. Be able to solve the homogeneous kinematic transforms in 3D space and be able to use these transformations in 3D computer graphics. - Practical works 5. un 6.Exam questions on appropriate topics. Be able to use algebra quaternion algebra to describe rotations. - Practical works 7. un 8.Exam questions on appropriate topics. Know the physics engine development principles and be able to use XNA Game Studio for mesh object visualization and to perform homogeneous kinematic transformations in 3D space. - Practical works 1., 9., 10.Exam questions on appropriate topics. Need to know kinematics for several linked elements. - Practical works 11., 12., 13.Exam questions on appropriate topics. Able to simulate the acceleration and angular velocity of rigid bodies. - Practical works 14. un 15.Exam questions on appropriate topics. Able to plan the path and trajectory of moving rigid bodies. - Practical works 16. un 17.Exam questions on appropriate topics. Know the force modeling methods. - Practical works 18. un 19.Exam questions on appropriate topics. Course prerequisites Mathematics (vectors and matrices), Physics (kinematics) and programming basics.

[Extended course information PDF]