Robot Mechanics and Control, Part II - Seoul National UniversityedX
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This course is Part II of a two-part mathematical introduction to the mechanics and control of robots that can be modeled as kinematic chains. Topics covered include the concept of a robot’s configuration space and degrees of freedom, static grasp analysis, the description of rigid body motions, kinematics of open and closed chains, and the basics of robot control. The emphasis is not on the latest research trends and technological innovations in robotics, but on learning the fundamental concepts and core principles that underlie robotics as a scientific discipline. The intent is to help students acquire a unified set of analytical tools for the modeling and control of robots, together with a reliable physical intuition that recognizes the unique and interdisciplinary nature of robotics—in short, content that will serve as a reliable foundation for whatever trends may appear later, and remain relevant to both the practitioner and researcher. NOTE: Part II will cover screw motions and the product of exponentials kinematics formula, inverse kinematics of open chains, velocity kinematics and statics, closed chain kinematics, and basics of robot control.
Frank C. Park Frank Chongwoo Park received his B.S. in Electrical Engineering from MIT in 1985, and Ph.D. in Applied Mathematics from Harvard University in 1991. From 1991 to 1995 he was assistant professor of mechanical and aerospace engineering at the University of California, Irvine. Since 1995, he has been professor of mechanical and aerospace engineering at Seoul National University. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has served on the editorial boards of the Springer Handbook of Robotics and Advanced Tracts in Robotics (STAR), Robotica, and the ASME Journal of Mechanisms and Robotics. He has been an IEEE Robotics and Automation Society Distinguished Lecturer, is a fellow of the IEEE, and the current editor-in-chief of the IEEE Transactions on Robotics. ...