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Postgraduate |
(IT)
|
Leader: G Lowe
Offered:
Not offered in 2005.
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