MAK 4071E - Introduction to Robotics

Course Objectives

1. General introduction to industrial robot manipulators, presentation of robot components.
2. Geometric, kinematic and dynamic modeling of serial robot manipulators.
3. Introduction to robot control with: independent joint control, computed torque control, compliance and force control.

Course Description

Introduction and short history. Structure and components of industrial manipulators. Forward and inverse geometric models. Forward and inverse kinematics. Static forces. Forward and inverse dynamics. Trajectory generation. Single DOF control. Independent joint control.
Computed torque control. Compliance and force control.