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Phases of Building a
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Objectives
Background and Related Work
Phases of Building a Robot
Robot Modules and Parameters
Forward Kinematics
Inverse Kinematics
Dynamics
Trajectory Generation
Linear Feedback Control
Local PD Feedback Control
Continuous vs. Discrete Time Control
Disturbance Rejection
Speed Considerations
Types of Inputs
Desired Frequency of the Control System
Error Analysis
Optimal Design of Robot Manipulators
Integration of Heterogeneous Systems
Matanya Elchanani
Wed Dec 18 17:00:21 EST 1996