Surgical Robotics
Lectures
Lecture 1: Introduction to surgical robotics
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Lecture 4: Planar forward kinematics (with HD parameters)
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Lecture 5: Spatial forward kinematics (with HD parameters)
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Lecture 6: Inverse kinematics
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Lecture 7: Inverse kinematics of a 6DOF robot arm
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Lecture 8: Differential motion, Jacobian, and singularities
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Lecture 9: Trajectory generation
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Lecture 10: Differential inverse kinematics
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Lecture 11: Kinesthetic haptic devices
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Lecture 13: Force control in haptic devices
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Lecture 14: Force fields for haptic feedback
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Laboratory Tutorials
Lab 1: Introduction to robot control
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Lab 2: Trajectory planning (writing on a white board)
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Lab 3: Frame transformation and Euler angles
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Lab 5: Inverse kinematics decoupling
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Lab 6: Introduction to haptics
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