This course will introduce the student to
- Kinematics: Application of Quaternions, Dual Numbers, Bi-Quaternion and Screws in Robotics
- Dynamics: Control of contact forces, analysis of serial applications in Dual Numbers / Dual-Quaternion form.
- Dual Quaternion Path Trajectory and motion Planning
- Robotic simulations in integrated development environments
We will focus on Representations of Rotation Exponential matrices, Quaternions, Rotation Vector, Rotation + Translation, Plucker Coordinate of a line and the Jacobian, Dual Numbers and vectors, Dual robot kinematics, Dual Quaternion, Dual Quaternion Control Law’s, and robotic simulation environments.
- מורה: אברהם כהן