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