| Description | An introduction to the kinematics, dynamics, and control of robot manipulators, robotic vision, sensing, and the programming of robots. The course will cover forward, inverse kinematics of serial chain manipulators. The manipulator Jacobian, force relations, dynamics and control-position, and force control. Trajectory generation, collision avoidance, automatic planning of fine and gross motion strategies, robot programming languages. Proximity, tactile, and force sensing. Network modeling, stability, and fidelity in teleoperation. Biological analogies and medical applications of robotics. Also listed as Bioengineering C125. |
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