Basics of robotics for manipulation
MICRO-450
Robotics- Textbook chapters
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Description
Textbook chapters - Beta version 2021
[I] General overview
Definitions, history, fields of application,
economic weight, characteristics.
Serial robots: geometries, applications.
Parallel and hybrid robots: mobility, types, applications.
[II] Theoretical basics of kinematic modeling- Geometric and Jacobian modeling
2.1 Kinematics.
2.2 Jacobian.
[III] Elements of dynamic modeling
methods using the Lagrange approach
Modeling method using the Newton approach
[IV] Robot control
Algorithms - Trajectory generation - Software - Hardware
[V] Sensing and actuation