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    Syllabus 16

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    assefa
    This document outlines the chapters and topics covered in a robotics textbook. Chapter 1 discusses coordinate frames and transformation matrices. Chapter 2 covers the kinematics of 6 degree-of-freedom manipulators including direct and inverse kinematics. Chapter 3 presents velocity analysis, Jacobian matrices, and statics. Chapter 4 introduces screw theory and its application to closed-loop mechanisms. Chapter 5 examines 3 degree-of-freedom parallel manipulators. The course includes a midterm, final, and homework/projects.

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    Syllabus 16

    Uploaded by

    assefa
    8 views1 page
    This document outlines the chapters and topics covered in a robotics textbook. Chapter 1 discusses coordinate frames and transformation matrices. Chapter 2 covers the kinematics of 6 degree-of-freedom manipulators including direct and inverse kinematics. Chapter 3 presents velocity analysis, Jacobian matrices, and statics. Chapter 4 introduces screw theory and its application to closed-loop mechanisms. Chapter 5 examines 3 degree-of-freedom parallel manipulators. The course includes a midterm, final, and homework/projects.

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    This document outlines the chapters and topics covered in a robotics textbook. Chapter 1 discusses coordinate frames and transformation matrices. Chapter 2 covers the kinematics of 6 degree-of-freedom manipulators including direct and inverse kinematics. Chapter 3 presents velocity analysis, Jacobian matrices, and statics. Chapter 4 introduces screw theory and its application to closed-loop mechanisms. Chapter 5 examines 3 degree-of-freedom parallel manipulators. The course includes a midterm, final, and homework/projects.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    8 views1 page

    Syllabus 16

    Uploaded by

    assefa
    This document outlines the chapters and topics covered in a robotics textbook. Chapter 1 discusses coordinate frames and transformation matrices. Chapter 2 covers the kinematics of 6 degree-of-freedom manipulators including direct and inverse kinematics. Chapter 3 presents velocity analysis, Jacobian matrices, and statics. Chapter 4 introduces screw theory and its application to closed-loop mechanisms. Chapter 5 examines 3 degree-of-freedom parallel manipulators. The course includes a midterm, final, and homework/projects.

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    ROBOTICS (2016)

    Chapter 1: Coordinate transformations


    Coordinate frames
    Rotation matrices and Homogeneous matrices
    Pre-multiplication and post-multiplication of
    matrices
    Chapter 2: Kinematics
    Link parameters & coordinate frames of a
    manipulator
    Direct kinematics & inverse kinematics of serial
    6-DOF manipulators
    Chapter 3: Instantaneous kinematics and statics
    Velocity analysis and statics
    Jacobian matrix and numerical methods for
    inverse kinematics
    Statics for spatial mechanisms
    Dynamics
    Chapter 4: Screw theory and closed-loop kinematic
    chains
    Definitions of Screws
    Screw transformations
    Reciprocal screws and applications
    6-DOF Stewart Manipulators
    Chapter 5: 3-DOF Parallel manipulators
    Delta translational manipulators
    Spatial manipulators
    Mid-term Exam 40% Final Exam. 40%
    Homework and Projects

    20%

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