MONASH UNIVERSITY FACULTY HANDBOOKS
Computing & Information Technology Handbook 1996
Published by Monash University
Clayton, Victoria 3168, Australia
Authorised by Academic Registrar, April 1996
RDT6310
Robotics II
G Lowe
3 points + 2 hours per week + First, second semester + Clayton +
Prerequisites: RDT6300
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%
Recommended texts
- McKerrow P J Introduction to robotics Addison-Wesley, 1991
- Schilling R J Fundamentals of robotics: Analysis and control
Prentice-Hall, 1990
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