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Robotics II (3 points)


Leader: G Lowe

Not offered in 2003.

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%

Contact Hours: 2 hours per week

Prerequisites: CSE4830

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