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ENGR 6411

Robotic Manipulators I: Mechanics

4 credits · Graduate

Not stated

Topics

  • Coordinate frames
  • Spatial transformations
  • Robot kinematics
  • Denavit–Hartenberg convention
  • Inverse kinematics
  • Jacobian matrices
  • Singularities
  • Velocity propagation
  • Static forces
  • MATLAB robotics toolbox

Readings

  • Fu, Gonzalez and Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill, 1987.
    Recommended / optional / reference
  • M.W. Spong and M. Vidyasagar, Robot Dynamics and Control, Wiley, 1989.
    Recommended / optional / reference
  • Listed textbook; requirement not explicitly stated: J.J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed., Addison-Wesley, 1989.
    Listed reading
Sources