Tantárgy adatlapja
Tárgy neve: Válogatott fejezetek matematikai módszerekből és robotikából
Tárgy kódja: P_DO_0245
Óraszám: N: 2/2/0, L: 0/0/0
Kreditérték: 6
Az oktatás nyelve: magyar
Követelmény típus: Kollokvium
Felelős kar: ITK
Felelős szervezeti egység: ITK Doktori és Habilitációs Iroda
Tárgyfelelős oktató:
Dr. Koller Miklós
Tárgyleírás:
The goal of this course is to highlight important results in nonlinear systems’ and control theory and robotics. The subject of this course will be discussed in weekly consultations on the following topics:
- Linear algebra (Determinants and rank, Matrix algebra, Orthogonal and unitary matrices, Matrix decompositions, Projection matrix, Matrix exponential)
- Dynamical systems (High order scalar differential equations, Linear systems, Nonlinear equations)
- Analytical Dynamics (Equations of Motion, Impulse and Momentum, Work, Energy, and Integrals of motion, Rotations, Angular Velocity, Moving Reference Frames, Velocity and Acceleration in Moving Frames, Velocity and Acceleration in Moving Frames)
- Robotics (Configuration space, Rigid body motions,Forward and Inverse kinematics, Velocity kinematics, and closed chains, Dynamics and trajectory generation, Robot control)
Selected literature:
[1] J. M. Powers and M. Sen, 2015, Mathematical Methods in Engineering, Cambridge
[2] M. Sen and J. M. Powers, 2012, Lecture Notes on Mathematical Methods
[3] K. M. Lynch, F. C. Park, Modern Robotics: Mechanics, Planning, and Control, Cambridge
University Press, 2017.
[4] Woodhouse, Introduction to Analytical Dynamics, 2nd Ed., Springer, 2009.
Required competences:
Analysis of complex nonlinear systems, understanding and manipulating the behavior of such physical biological, social, etc., process systems.
