{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

ME5286CourseNotes01-09 - ROBOTICS COURSE NOTES 1981 1991...

Info iconThis preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon
ROBOTICS COURSE NOTES ©1981, 1991, 2001, 2009 Max Donath (Incorporates material from many sources) DEPARTMENT OF MECHANICAL ENGINEERING UNIVERSITY OF MINNESOTA 111 CHURCH ST. S.E. MINNEAPOLIS, MN 55455
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon
Topics: 1. Robotics: An Introduction 2. Manipulator specifications and criteria for selection - Resolution, repeatability, and accuracy 3. Manipulation Tasks 4. Mathematics of Coordinate Transformation 5. Homogeneous transformations matrices - Example: The Puma 560 6. Inverse kinematics: The problem 7. Robot Link transformation matrices 8. Inverse kinematic solutions 9. Velocity and path control: the Jacobian 10. Computation of the Jacobian 11. Task primitives and programming: Computational aspects 12. Determining path trajectories - Interpolation and spline functions 13. Static force analysis: Another role for the Jacobian 14. Manipulator dynamics 15. Inertial effects of drive and transmissions on dynamics 16. Force based control - Force vs. impedance control vs. position control 17. Manipulator peripherals: the RCC 18. Integrating sensors into robots 19. The future
Background image of page 2
Robotics Technology Motivation: Replacement for limited function while maintaining “human” flexibility Manufacturing Discrete Continuous Flexible VS Hard Automation Transfer Lines Batch High Volume Hybrid circuit assembly Hazardous Environments Space Underwater Radioactive Toxic Combat Medical Microsurgery Rehabilitation Upper extremity Lower Extremity Transportation
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon
From Business Week, NOVEMBER 24, 2003 (by Andrew Park)
Background image of page 4
Image of page 5
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}