Mechanics and Control of Robot Manipulators

MECHANICS AND CONTROL OF ROBOT MANIPULATORS

EML 6801-001 / EML 4930-001

Summer 2005 Class Schedule

Date class # Topic Chapter #

5/17 1 Introduction 1

5/19 2 Spatial Descriptions & Transformations 2

5/24 3 Spatial Descriptions & Transformations 2

5/26 4 Spatial Descriptions & Transformations 2

5/31 5 MATLAB

6/2 6 MATLAB & Lab Demo

6/7 7 Manipulator Kinematics 3

6/9 8 Manipulator Kinematics 3

6/14 9 Manipulator Kinematics 3

6/16 10 Test 1 (25%)

6/21 11 Inverse Manipulator Kinematics 4

6/23 12 Jacobian: Velocities and Static Forces 5

6/28 13 Jacobian: Velocities and Static Forces 5

6/30 14 Manipulator-mechanism design 8

7/5 15 Manipulator Dynamics 6

7/7 16 Manipulator Dynamics 6

7/12 17 Test 2 (25%)

7/14 18 Linear Control of Manipulators 9

7/19 19 Linear Control of Manipulators 9

7/21 20 Final (30%)