CSE4831

Robotics II

(IT)

Not offered in 2002

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%