National University of  Singapore

    Departments of Electrical and Computer engineering 
    & 
    Mechanical Engineering
    Faculty of Engineering

    Semester 1
    ME 4245: Robotics

    Introduction, Spatial Descriptions and Transformations, Manipulator Forward and Inverse Kinematics, Mechanics of Robot Motion, Robot Dynamics, Static Forces and Torques, Trajectory Planning, Robot Control
    Contents

    Hours
    1

    Introduction, Spatial Descriptions and Transformations
    Robot definition. Robot classification. Robotics system components. Notations. Position definitions. Coordinate frames. Different orientation descriptions. Free vectors. Translations rotations and relative motion. Homogeneous transformations.

    4
    2

    Manipulator Forward and Inverse Kinematics
    Link coordinate frames. Denavit-Hartenberg convention. Joint and end-effector Cartesian space. Forward kinematics transformations of position. Inverse kinematics of position. Solvability. Trigonometric equations. Closed-Form Solutions. Workspace.

    4
    3

    Mechanics of Robot Motion
    Translational and rotational velocities. Velocity Transformations. The Manipulator Jacobian. Forward and inverse kinematics of velocity. Singularities of robot motion.

    3
    4

    Static Forces and Compliance
    Transformations of static forces and moments. Joint and End-Effector force/torque transformations.

    2
    5

    Robot Dynamics and Trajectory Planning
    Lagrangian formulation. Model properties. Newton-Euler equations of motion. Simulations. Joint-based motion planning. Cartesian-based path planning.

    		 7
    6

    Robot Control
    Independent joint control. Feed-forward control. Inverse dynamics control.  Robot controller architectures. Implementation problems.

    		 6

    Total

    		 26

    Further details are available on NUS IVLE.

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