MECH&AE 263A

Kinematics of Robotic Systems

Description: Lecture, four hours; outside study, eight hours. Recommended requisites: courses 155, 171A. Kinematical models of serial robotic manipulators, including spatial descriptions and transformations (Euler angles, Denavit-Hartenberg/DH parameters, equivalent angle vector), frame assignment procedure, direct kinematics, inverse kinematics (geometric and algebraic approaches), mechanical design topics. Letter grading.

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