Robot Manipulators

3 credits · Graduate School

Constrained optimization for robotics. Jacobian subspaces/singular value decomposition and redundancy resolution methods in robotics. Performance measures for robot design and modeling. Quaternions and dual quaternions in robotics. Parallel robot modeling: instantaneous kinematics and screw-based formulation for parallel robot Jacobians. Singularity analysis of parallel robots. Parallel robot direct kinematics (homotopy methods and resultants). Robot stiffness. Modeling of wire-actuated robots and multi-fingered hands. Motion control of serial robots, robust min/max control of serial robots, hybrid motion/force control. [3]