Brief Introduction
A mathematical introduction to the mechanics and control of robots.Description
This course is Part II of a two-part mathematical introduction to the mechanics and control of robots that can be modeled as kinematic chains. Topics covered include the concept of a robot’s configuration space and degrees of freedom, static grasp analysis, the description of rigid body motions, kinematics of open and closed chains, and the basics of robot control. The emphasis is not on the latest research trends and technological innovations in robotics, but on learning the fundamental concepts and core principles that underlie robotics as a scientific discipline. The intent is to help students acquire a unified set of analytical tools for the modeling and control of robots, together with a reliable physical intuition that recognizes the unique and interdisciplinary nature of robotics—in short, content that will serve as a reliable foundation for whatever trends may appear later, and remain relevant to both the practitioner and researcher. NOTE: Part II will cover screw motions and the product of exponentials kinematics formula, inverse kinematics of open chains, velocity kinematics and statics, closed chain kinematics, and basics of robot control.Knowledge
- The basics of robot control
- Key concepts in robotics, including: screw motions, velocity and static analysis, kinematic singularities, inverse kinematics, and closed chain kinematics
- The product of exponentials formula for forward kinematics
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Robot Mechanics and Control, Part II
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A mathematical introduction to the mechanics and control of robots. The basics of robot control The product of exponentials formula for forward kinematics...
Robot Mechanics and Control, Part I
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A mathematical introduction to the mechanics and control of robots. This course provides a mathematical introduction to the mechanics and control of robots that can be modeled as kinematic chains....
Robotics Foundations I - Robot Modeling
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This course explores the robotics foundations for modelling of robot manipulators. Robotics is commonly defined as the study of the intelligent connection between perception and action....
Robotics Foundation II - Robot Control
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This course explores the robotics foundations for planning and control of robot manipulators and mobile robots Robotics foundations are dealt with in this two-part course....
