Manipulator dynamics, position control, hybrid position/force control, and impedance controls; advanced topics in manipulator motion planning, assembly planning and grasp planning; cell decomposition; retraction; back projection; hypothesize-and-test; and potential field methods; subassembly stability; task-level and fine motion planning; grasp stability; grasp synthesis; dexterous manipulation. or approval of instructor. Cross Listing: CSCE 643 Credits 3. 3 Lecture Hours.
Manipulator dynamics, position control, hybrid position/force control, and impedance controls; advanced topics in manipulator motion planning, assembly planning and grasp planning; cell decomposition; retraction; back projection; hypothesize-and-test; and potential field methods; subassembly stability; task-level and fine motion planning; grasp stability; grasp synthesis; dexterous manipulation. or approval of instructor. Cross Listing: CSCE 643 Credits 3. 3 Lecture Hours.
