一、计算机网络基础 二、Internet基础 三、接入 Internet 四、IE浏览器 五、电子邮件

一、计算机文化的概念 二、计算机的发展史 三、计算机的特点、分类及应用 四、计算机系统的组成与基本工作原理 五、计算机文化中的道德规范

一、计算机文化的概念 二、计算机的发展史 三、计算机的特点、分类及应用 四、计算机系统的组成与基本工作原理 五、计算机文化中的道德规范

ourse topics Introduction Mathematical Background Rigid- Body Mechanics Robotic Kinematics Robotic dynamics

Review Fundamentals of multibody dynamics Newton-Euler equation I;=-×工+n+nF =fw+ff Rely on free-body diagram. Constraint force involved Compact form m ti=-WiMti+w+wf

Review Robot Kinematics Geometric Anal ysis x=f(0) of Differential analysis 0 Forward(direct)vs Inverse Kinematics problem Inverse Kinematics Problem(IKP

Review Velocity, Acceleration and Static Analysis Mapping between Cartesian and joint space Linear transformation 0=t T Joint rate -+ Cartesian rate EE Wrench→→ Joint force/torque Rate anal ysis Static anal ysis

Review Basic robotic Kinematic problems Direct(forward) Kinematics Inverse Kinematics · DH Notation

Midterm Exam Date&Time:19:00-21:00Oct25.2004 Open book Chapters 2 3 of the text book Note: Regular lecture will take place 18: 00-18: 45 on Oct 25

Review Concept of Screw Motion of a rigid body