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The course gives a thorough treatment of the kinematics and dynamics as well as key advances in motion control of robot manipulators. Students will develop proficiency in using homogeneous transformation for complex kinematic structures, in analyzing forward and inverse dynamics of linked mechanisms, and developing motion control techniques for machines. Along with issues in real-time control, the course covers practical issues related to feedback control under modeling inaccuracies and parameter variation, and the control techniques treated in the course have a wide range of applications in various industries such as in medical robot, aerospace, machine tool, and heavy-equipment. The course will conclude with practical applications, emerging topics and future directions in robotics.