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
3 points + 2 hours per week + First, second semester + Clayton + Prerequisites: CSE4830
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%
wwwdev@monash.edu.au
December 10 1999