MCL745
| MCL745 | |
|---|---|
| Robotics | |
| Credits | 4 |
| Structure | 3-0-2 |
| Pre-requisites | |
| Overlaps | |
MCL745 : Robotics
[edit]Type and components of robots; Classification of closed- and open-loop kinematic systems; Definition of mechanisms and manipulators; Kinematic constraints; Degrees of freedom and mobility; Rotation representation; Coordinate transformation; DH parameters; Matrix methods for forward and inverse kinematics analyses; Jacobian and singularity; Dynamic modeling; Euler-Lagrange and Newton-Euler equations of motion for serial type manipulators; DeNOC- based dynamic formulation; Inverse and forward dynamics algorithms; Parallel robots; Inverse and forward kinematics of parallel robots; Gain singularity of parallel robots; Introduction to control of robotic systems.