Robotics II
G Lowe
3 points * 2 hours per week * First/Second semester * Clayton * Prerequisites: RDT6300
Robot geometry and kinematics: matrix transforms leading to kinematic equations, inverse kinematic solutions to joint angles. Formulation of manipulator Jacobians, motion trajectories, planning aspects, joint coordinated and interpolated motion. Control: feedback loops, manipulator dynamics, techniques of feedback control. Sensing devices, tactile sensing, vision.
Assessment
Examinations: 60% * Assignments: 40%
Recommended texts
McKerrow P J Introduction to robotics Addison-Wesley, 1991
Schilling R J Fundamentals of robotics: Analysis and control Prentice-Hall 1990