CSE4831

Robotics II (3 points)

(IT)

Leader: G Lowe

Offered:
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