Weeks | Topics |
1 |
Cartesian coordinates, 2D transformations
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2 |
3D transformations, 3D transformation matrices, coordinate frames
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3 |
Relative transformation, general transformations, general orientation transformations
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4 |
Inverse transformations, object location, transform graph,
|
5 |
Joints, links, general links, assignment of coordinate frames
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6 |
Trigometrik solution,
|
7 |
A matrices, homogeneous transformations,
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8 |
Direct kinematics,
|
9 |
Vector solution, solving the general orientation transforms,
|
10 |
Inverse kinematics
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11 |
Programming
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12 |
Redundant manipulator kinematics
|
13 |
Avoiding obstacles
|
14 |
Mobile robot kinematics
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