Credits: 4 (3-0-2)
Description
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.