This note provides an overview of robot mechanisms, dynamics, and
intelligent controls. Topics covered includes: planar and spatial kinematics,
and motion planning, mechanism design for manipulators and mobile robots,
multi-rigid-body dynamics, 3D graphic simulation, control design, actuators, and
sensors, wireless networking, task modeling, human-machine interface, and
embedded software.
Author(s): Prof. Harry Asada and Prof. John
Leonard
This note deals with two
major components: robot manipulators and image processing. Topics covered
includes: Manipulator kinematic configurations and the robot work space,
Manipulator specifications and criteria for selection, Task primitives and
programming, Determining path trajectories, Static forces and their control,
Manipulator dynamics, Manipulator control, Manipulator peripherals, Sensor
integration.
This note
introduces fundamental topics in robotics science emphasizing in its mechanical
dynamics. Topics covered includes: Spatial Descriptions and Transformations,
Manipulator Kinematics, Jacobians, Trajectory Generation, Manipulator-Mechanism
Design, Introduction to Control of Manipulators.