| Topic | Name | Description |
|---|---|---|
| EENG428 Introduction to Robotics | ||
EENG 428 Course description |
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| FUNDAMENTALS | Chapter 1 |
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| Kinematics of Robots: Position Analysis. | ||
This video demonstrates use of the Denavit-Hartenberg convention for defining the reference frames of a kinematic chain. |
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Difference between D-H classical and modified. |
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Procedure for deriving forward kinematics |
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| Differential Motions and Velocities. | ||
| Dynamic Analysis and Forces. | ||
| Trajectory Planning | ||
| USEFUL TOOLS | ||
Some General Analytical Inverse Kinematics Formulas |
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| Robot Animation | Articulated Robots |
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Cartesian, Cylindrical, Spherical Robots |
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| Past Exam Questions | Solutions of Midterm Exam Questions |
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test |
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2013-14 Midterm Exam-Solutions |
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| Useful Links | This course provides an overview of robot mechanisms, dynamics, and intelligent controls. Topics include 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. Weekly laboratories provide experience with servo drives, real-time control, and embedded software. Students will design and fabricate working robotic systems in a group-based term project. |
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Youtube files |