Introduction to Robotics
- Spatial descriptions and transformations
- Manipulator forward and inverse kinematics
- Velocity Kinematics
- Jacobians: velocities and static forces
- Conceptual design of the course project
- Manipulator dynamics
- Path Planning
- Preliminary design of the course project
- Position control of manipulators in both task space and joint space
- Position control of manipulators in both task space and joint space
- Force and impedance control of manipulators
- Detail design of course project
- Tele(medical)-robotics
- Modeling, control and simulation of the course project in MATLAB
- Construction of the course project robot and performing the experiments
- Construction of the course project robot and performing the experiments