Mechanics and Control of Robots

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Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

Kinematics and dynamics of multibody systems. Choice of coordinates. Direct and inverse kinematic problem. Analytic solvability of direct and inverse kinematic problem. Kinematic accuracy. Robot workspace. Direct and inverse dynamic problem. Dynamic properties and their description. Point-to-point control and trajectory control. Force and compliant control. Linear control. Nonlinear control. Software tools - Simpack, Matlab-Simulink.

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No time-table has been prepared for this course

The course is a part of the following study plans: