Academic Catalog

EE588 ROBOT HAND: DYNAMICS OF MANIPULATION

Course Code:	5670588
METU Credit (Theoretical-Laboratory hours/week):	3(3-0)
ECTS Credit:	8.0
Department:	Electrical And Electronics Engineering
Language of Instruction:	English
Level of Study:	Graduate
Course Coordinator:	Prof.Dr. AYDAN MÜÞERREF ERKMEN
Offered Semester:	Fall Semesters.

Course Content

Tree-structured manipulators. Multiple manipulators. Leading robot hands. Hand gross motion control. Obstacle avoidance techniques. Collision free wrist path planning. Hand preshape analysis. Grasp planning. Contact analysis. Hand fine motion control. Manipulability; Stability; Compliance.