ADV TPC:ROBOTICS/MECH SYNTHES

3.00 points · University catalogue

Lect: 3. Recommended: MECE E3401 or instructor’s permission. Kinematic modeling methods for serial, parallel, redundant, wire-actuated robots and multifingered hands with discussion of open research problems. Introduction to screw theory and line geometry tools for kinematics. Applications of homotopy continuation methods and symbolic-numerical methods for direct kinematics of parallel robots and synthesis of mechanisms. Course uses textbook materials as well as a collection of recent research papers.