Robot classification. Robotic systems; actuators, transmission elements, and sensors. Description of object location. Kinematics of manipulator position; joints, links, coordinate frames, A matrices, homogeneous transformation, direct and inverse kinematics. Kinematics of manipulator motion; velocity, acceleration, differential motion, Jacobian. Trajectory generation. Static; compliance, inserting a peg into a hole. Dynamics ; Lagrange formulations, Newton-Euler recursive formulations. Control; linear and nonlinear methods, position and force control. Programming languages.
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