wwwdev@monash.edu.au
December 10 1999
Auth: S Steele, ITS Web and Internet Facilities
Copyright © Monash University 1999 - All Rights Reserved - Caution
(IT)
G Lowe
6 points + Two-hour lecture and two-hour practical per week + Second semester + Clayton + Prerequisites: CSE3133
Synopsis: Robot geometry and frame assignment; representation of translation and orientation; forward kinematics, position, velocity and acceleration; inverse kinematics, closed-form and iterative methods; position control in Cartesian space; singularities of robot motion; manipulator calibration; manipulator dynamics; position control in joint space; servo-loop technology, control computations; and force sensing and control.
Assessment: Examination (3 hours): 50% + Practical work: 30% + Assignments: 20%
wwwdev@monash.edu.au
December 10 1999