CSE3134

Robotics

(IT)

Not offered in 2002

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%