Leader: G Lowe
Not offered in 2005.
Synopsis: Robot geometry and frame assignment; representation of translation and orientation; forward kinematics, position, velocity and acceleration; inverse kinematics, closed-form and iterative methods; position control in Cartesian space; singularities of robot motion; manipulator calibration; manipulator dynamics; position control in joint space; servo-loop technology, control computations; and force sensing and control.
Assessment: Examination (3 hours): 50% + Practical work: 30% + Assignments: 20%
Contact Hours: Two-hour lecture and two-hour practical per week