Curricula (Chemical Engineering or Material Science and Engineering)
Curricula (Biomedical Engineering)
|2ND YEAR-2ND SEMESTER|
|ROBOTICS FOR BIOENGINEERING|
|Introduction to robotic foundations and medical robotics|
Robot kinematics: Pose of rigid body. Rotation matrices. Orientation representations. Homogeneous transformations. Direct kinematics. Joint space and operational space. Inverse kinematics. Differential kinematics. Singularities. Redundancy. Closed-loop inverse kinematics. Statics.
Trajectory planning: Path and trajectory. Joint space trajectories. Operational space trajectories.
Robot dynamics: Lagrange formulation. Notable properties of the dynamic model. Direct and inverse dynamics.
Robot control: The control problem. Actuators. Sensors. Joint space control. Operational space control. Impedance control. Interaction matrix. Visual servoing.
Surgical robotics: Classification of surgical robots. Teleoperation and haptics. Control architectures.
Rehabilitation robotics: Classification of rehabilitation robots. Design, sensing, actuation and control principles in rehabilitation robots.
Robotic prostheses: Classification. Design, sensing, actuation and control principles in upper limb prostheses.