CS563PRINCIPLES OF ROBOTICS3-0-0-6

Pre-requisites : CS201, CS204

Syllabus :
Introduction to robot manipulation. Forward and inverse kinematics of robots and some case studies. Manipulator dynamics. Basics of robot control. Task planning with emphasis on computational geometry methods for robot path finding,robot arm reachability, grasp planning etc. Overview of robot vision.

Texts :
1. R. J. Schilling, Fundamentals of Robotics: Analysis and Control, Prentice-Hall India 1996.

References :
1. K. S. Fu, R. C. Gonzalez and C. S. G. Lee, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, 1987.
2. R. P. Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, 1981.
3. J. C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991.