CSE4831

Robotics II

G Lowe

3 points - 2 hours per week - First, second semester - Clayton - Prerequisites: DGS6300

Synopsis 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%

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