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240AR012 - Robotics: Kinematics, Dynamics and Control - PRACTICALS documentation
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PRACTICALS - Robotics: Kinematics, Dynamics and Control
ΒΆ
Modelling
Preliminaries
Basic commands for representing position and orientation
Robot modelling using DH parameters
EXERCISE (Deliverable)
Kinematics
Forward kinematics
Inverse kinematics
Trajectory Planning
Trajectories: Interpolation motions
Joint-space trajectories
Cartesian-space trajectories
Differential Kinematics
Geometric Jacobian
Analytic Jacobian
Singularities / Manipulability
Redundancy
EXERCISE (Deliverable)
Dynamics
Equations of motion
Inertia Matrix
Coriolis Matrix
Gravity Term
Friction Term
Parameterization
Dynamic parameters identification
Examples
Control
Decentralized control schemes
Centralized control schemes
EXERCISE (Deliverable)
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Modelling
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240AR012 - Robotics: Kinematics, Dynamics and Control - PRACTICALS documentation
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