 2015 - 2016 | |||||||||||||||||||||||||||||
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| 0540-6605-01 | Mechanics of Robotic Manipulators | ||||||||||||||||||||||||||||
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| FACULTY OF ENGINEERING | |||||||||||||||||||||||||||||
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University credit hours: 3.0
Course description
Credit points: 3
Models in kinematics of manipulators. Kinematics of redundant manipulators. Resolving the redundancy by local and global methods. Concepts in analyzing the workspace. Kinematic models for error representation including deterministic and statistical approaches, tuning the error. Multi-robot coordination. Mechanics of closed-link robots. Mechanics of grasping. Stability and grasping planning. Analytical and iterative methods in robot dynamics. Flexible manipulators. Optimal trajectory planning