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Week - 1 |
Introduction: History of Robotics, Manipulator Structures and Definitions |
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Week - 2 |
Spatial Decriptions and Transformations: Position of Orientation of a Rigid Body Rotation Matrix |
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Week - 3 |
Spatial Decriptions and Transformations: Minimal Representation of Rotation Matrices |
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Week - 4 |
Differential Kinematics: Descriptions, Affixing frames to links |
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Week - 5 |
Differential Kinematics: Determination of Homogeneous Transformation, Case Studyy |
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Week - 6 |
1st Midterm Exam |
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Week - 7 |
Inverse Kinematics |
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Week - 8 |
Velocities: Linear and Angular Velocities |
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Week - 9 |
Trajectory Generation: Path and Trajectory, Trajectory Generation in Joint Space Versus Operational Space. |
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Week - 10 |
Motion Control: Joint Space Control, Feedback and Closed loop Control, Adaptive Control Concepts, Adaptive Control of Robotic Manipulators, Operational Space Control. |
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Week - 11 |
2nd Midterm Exam |
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Week - 12 |
Interaction Control: Impedance Control |
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Week - 13 |
Sensors and Actuators:Joint Actuating Systems, Servomechanism |
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Week - 14 |
Classification of Sensors |
Eskisehir Technical University Info Package 
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