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Teaching GuideTerm Higher Polytechnic University College |
| Mestrado Universitario en Enxeñaría Industrial (plan 2018) |
 Subjects |
| Kinematics and Dynamics of Industrial Robots |
| Contents |
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| Identifying Data | 2019/20 | |||||||||||||
| Subject | Kinematics and Dynamics of Industrial Robots | Code | 730497228 | |||||||||||
| Study programme |
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| Descriptors | Cycle | Period | Year | Type | Credits | |||||||||
| Official Master's Degree | 2nd four-month period |
Second | Optional | 3 | ||||||||||
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| Topic | Sub-topic |
| 1. Introduction | 1.1 Introduction 1.2 Classification of manipulators 1.3 Rotation matrices. Representation by means of axis-angle; Angles (Roll-Pitch-YaW); Euler angles and quaternions. 1.4 Homogeneous transformations. 1.5 Composition of transformations |
| 2. Direct Kinematics | 2.1 Direct Kinematics. 2.2 Denavit-Hartenberg Convention. 2.3 Obtaining transformation matrices. 2.4 Speeds and rotations. 2.5 Jacobian of the manipulator. 2.6 Singularities. |
| 3. Manipulator Dynamics | 3.1 Dynamics of the manipulator. 3.2 Newton-Euler and Euler-Lagrange equations. 3.3 Movement control. |
| 4. Reverse Kinematics. | 4.1 Reverse Kinematics. 4.2 Ambiguities. 4.3 Application to an arm with 6 DOF. |
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