This course will cover the following topics in the field of robotics: historical development; robot components (sensors, actuators, and end effectors, and their selection criteria); basic categories of robots (serial and parallel manipulators, mobile robots); mobility/constraint analysis; workspace analysis; rigid body kinematics (homogeneous transformation, angle and axis of rotation, Euler angles); manipulator kinematics and motion trajectories (displacement and velocity analyses, differential relations, Jacobian matrix); non-redundant and redundant sensing/actuation of manipulators; manipulator statics (force and stiffness); singularities; and manipulator dynamics. NOT OFFERED 2025-2026 (Lec: 3, Lab: 0, Tut: 0.5)
This course will cover the following topics in the field of robotics: historical development; robot components (sensors, actuators, and end effectors, and their selection criteria); basic categories of robots (serial and parallel manipulators, mobile robots); mobility/constraint analysis; workspace analysis; rigid body kinematics (homogeneous transformation, angle and axis of rotation, Euler angles); manipulator kinematics and motion trajectories (displacement and velocity analyses, differential relations, Jacobian matrix); non-redundant and redundant sensing/actuation of manipulators; manipulator statics (force and stiffness); singularities; and manipulator dynamics. NOT OFFERED 2025-2026 (Lec: 3, Lab: 0, Tut: 0.5)
