Description: |
Emphasis of the lecture is the kinematics of mechanisms and robots. The following aspects are regarded: - Vector spaces - Kinetostatic transmission, duality of transmission of motion and forces, power transmission - Parameterizations of rotations (Euler angles, rotation vector, Quaternions, Rodrigues parameters) - Infinitesimal rotations - Kinematics of serial chains and robots, Denavit-Hertenberg parameters - Kinematics of closed loops (counting of degrees of freedom using Grübler-Kutzbach formula, coupling of multiloop systems, kinematical networks, method of kinematical transformers) |
Literature: |
Bottema , Roth: Theoretical Kinematics Dover Publications
Hunt: Kinematic Geometry of Mechanisms Oxford Universits Press
Altmann: Rotations, Quaternions and Double Groups Dover Publications
Paul: Robot Manipulators: Mathematics, Programming and Control The MIT Press |