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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