1. Kinematics of the spatial mechanisms, direct task of kinematics, transformation of coordinates, Denavit-Hartenberg principle.
2. Differential expression of the kinematic equations, application of differential operators.
3. Inverse task of kinematics based on Taylor expansion of the transform matrix.
4. Jacobi matrix and their applications.
5. Inverse task of kinematics based on Newton method of approximation.
6. Optimization methods of inverse kinematic task, heuristic methods.
7. Optimization methods of inverse kinematic task, gradient methods.
8. Trajectory planning, interpolation at the joint level.
9. Newton-Euler method, computing of the angular and translational velocity of the local coordinate system.
10. Newton-Euler method, computing of the angular and translational acceleration of the local coordinate system.
11. Newton-Euler method, computing of the translational velocity and acceleration of the links COG.
12. Newton – Euler method, computing of the loads and generalized forces, equilibrium of the link forces and moments.
13. Computing of the kinetic energy of the links.
14. Computing of the potential energy of the links.
15. Application of the Lagrange equation, direct and inverse task of dynamics.
16. Mechatronic approach to design of robotic systems.
2. Differential expression of the kinematic equations, application of differential operators.
3. Inverse task of kinematics based on Taylor expansion of the transform matrix.
4. Jacobi matrix and their applications.
5. Inverse task of kinematics based on Newton method of approximation.
6. Optimization methods of inverse kinematic task, heuristic methods.
7. Optimization methods of inverse kinematic task, gradient methods.
8. Trajectory planning, interpolation at the joint level.
9. Newton-Euler method, computing of the angular and translational velocity of the local coordinate system.
10. Newton-Euler method, computing of the angular and translational acceleration of the local coordinate system.
11. Newton-Euler method, computing of the translational velocity and acceleration of the links COG.
12. Newton – Euler method, computing of the loads and generalized forces, equilibrium of the link forces and moments.
13. Computing of the kinetic energy of the links.
14. Computing of the potential energy of the links.
15. Application of the Lagrange equation, direct and inverse task of dynamics.
16. Mechatronic approach to design of robotic systems.