DGS6310

Robotics II

G Lowe

3 points
* 2 hours per week
* First, second semester
* Clayton
* Prerequisites: DGS6300

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%