MECH&AE C263A

Kinematics of Robotic Systems

Description: (Formerly numbered 263A.) Lecture, four hours; discussion, two hours; outside study, six hours. Recommended requisites: courses 155, 171A. Kinematical models of serial robotic manipulators, including spatial descriptions and transformations (Euler angles, Denavit-Hartenberg/DH parameters, equivalent angle vector), frame assignment procedure, direct kinematics, inverse kinematics (geometric and algebraic approaches), mechanical design topics. Concurrently scheduled with course C163A. Letter grading.

Units: 4.0
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Overall Rating 4.0
Easiness 3.0/ 5
Clarity 4.0/ 5
Workload 2.0/ 5
Helpfulness 3.0/ 5
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