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| Table of contents: | ||||||
| Chapter 1: | Introduction to robotics | |||||
| 1.1 | Industrial robot | |||||
| 1.2 | Manipulators Structures | |||||
| QUIZ 1 | ||||||
| Chapter 2: | Kinematics | |||||
| 2.1 | Position and orientation | |||||
| 2.2 | Coordinates transformation | |||||
| 2.3 | Homogeneous transformation | |||||
| 2.4 | Denavit-Hartenberg parameters | |||||
| 2.5 | Forward kinematics | |||||
| Chapter 3: | Dynamics | |||||
| 3.1 | Force and moment transformation | |||||
| 3.2 | Static | |||||
| 3.3 | Solid object motion | |||||
| 3.4 | Language-Euler formulation | |||||
| Chapter 4: | Trajectory Planning | |||||
| 4.1 | Joint Interpolated Trajectory | |||||
| 4.2 | Cartesian Path Planning Trajectories | |||||
| Chapter 5: | Robot Sensors | |||||
| 5.1 | Touch sensor | |||||
| 5.2 | Proximity sensor | |||||
| 5.3 | Vision system | |||||
| QUIZ 5 | ||||||
| Chapter 6: | Robot and system integration | |||||
| 6.1 | Teaching | |||||
| 6.2 | Robot Programming | |||||
| 6.3 | Interfacing | |||||
| QUIZ 6 | ||||||
