考试时间：10月11日（周一）
19：00－21：00
考试地点：26教学楼A-105
答疑时间：9月30日（周四）
下午，2:00-4:30
地点：26教学楼E-525
Review
Chapter 1
Basic ideas: Definition of robot, components Of robot systems, utilization of robots
Chapter 2
1. Description of position and orientation
2. Description of frames
3. Mapping: involved translated and rotated frames
4. Homogenous transformation
5. Operators: translation, rotations, transformations,
rotation matrix for rotation about axis
x,y,andz.
Chapter 3
1. Definition of forward kinematics
2. Link Description: four link parameters
3. Link-frame attachment
4. D-H table
5. Obtain link transformations
6. Obtain forward kinematics for manipulatorChapter 4
1. Definition of inverse kinematics
2. Algebraic solution for simple manipulator
Chapter 5
1. Notation of linear velocity and rotational velocity
2. Linear and rotational velocity of rigid body
3. Cross product of two vector
4. Velocity propagation
5. Definition of Jacobians
6. The way to obtain Jacobians
7. Definition of singularity
Chapter 6
1. Linear and angular acceleration
2. Mass distribution
3. State-space equation of manipulator dynamic model
考试时间：10月11日（周一）
19：00－21：00
考试地点：26教学楼A-105
答疑时间：9月30日（周四）
下午，2:00-4:30
地点：26教学楼E-525
Review
Chapter 1
Basic ideas: Definition of robot, components Of robot systems, utilization of robots
Chapter 2
1. Description of position and orientation
2. Description of frames
3. Mapping: involved translated and rotated frames
4. Homogenous transformation
5. Operators: translation, rotations, transformations,
rotation matrix for rotation about axis
x,y,andz.
Chapter 3
1. Definition of forward kinematics
2. Link Description: four link parameters
3. Link-frame attachment
4. D-H table
5. Obtain link transformations
6. Obtain forward kinematics for manipulatorChapter 4
1. Definition of inverse kinematics
2. Algebraic solution for simple manipulator
Chapter 5
1. Notation of linear velocity and rotational velocity
2. Linear and rotational velocity of rigid body
3. Cross product of two vector
4. Velocity propagation
5. Definition of Jacobians
6. The way to obtain Jacobians
7. Definition of singularity
Chapter 6
1. Linear and angular acceleration
2. Mass distribution
3. State-space equation of manipulator dynamic model