|ME5173*||Advanced Kinematics of Manipulators||4 ch (3C 3L*)|
Various methods for solving the forward and inverse displacement problems are described. Particular emphasis is made on the use of screw theory for the derivation of the Jacobian matrix. The selection of alternate frames of reference for describing the Jacobian are also discussed. Methods used in the solution of the inverse displacement problem and the inverse and forward velocity problems for kinematically redundant manipulators are discussed.