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As an introductory course in robotics, this course has its focus on robot
manipulators, which are the base of other robotic systems,
and covers basic principles in robotics such as coordinate frames, statics,
(inverse and forward) kinematics, (inverse and forward) dynamics of
robotics, manipulator Jacobian, singularity, redundancy,
trajectory planning and basic control methods such as PD, PID,
compliance control, and impedance control
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Design and Analysis of control systems, Design of a control system
using control software (MATLAB), Digital control system design,
Real time control, Signal processing, Filter design,
Control system design practice |
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System models will be constructed using a uniform notation for all types of
physical systems. It is a remarkable fact that models based on apparently
diverse branches of engineering science all can be expressed using the
notation of bond graphs based on energy and information flow.
This allows one to study the structure of system model. |
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