1. |
|
Course overview |
|
|
|
|
Composition of Transformation, Transform equation, Successive Coordinate Transformation Euler anlge, Roll-Pitch-Yaw |
|
|
2. |
|
Link Parameters, Forward Kinematics |
|
|
|
|
Inverse kinematics for the Desired Position |
|
|
3. |
|
Coordinate setup and link parmaeter Forward kinematics |
|
|
|
|
Inverse kinematics velocity kinematics: jacobian |
|
|
4. |
|
Velocity kinematics: jacobian |
|
|
5. |
|
Term Project Assignment |
|
|
6. |
|
Review on the 3D Rigid Body |
|
|
|
|
Maipulator Statics |
|
|
7. |
|
Maipulator Dynamics |
|
|
8. |
|
Trajectory Generation 01 |
|
|
|
|
Trajectory Generation 02 |
|
|
9. |
|
Maipulator Control |
|
|
10. |
|
Force Control,robotics term project |
|
|
11. |
|
Manipulator Design |
|
|