Leader: G Lowe
Not offered in 2005.
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%
Contact Hours: 2 hours per week