Description

Lecture, four hours; discussion, two hours; outside study, six 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. Concurrently scheduled with … For more content click the Read More button below.

Instructional Format

Primary Format

Lecture

Secondary Format

Discussion

Additional Format

Outside study

Concurrent Course

MECH&AE C263A - Kinematics of Robotic Systems

A pair of upper-division undergraduate and graduate courses that share a primary activity. They are scheduled at the same time and place with the same instructor.