Karabakh University Courses
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[MRM 308] Mechanics of Robotic Manipulators
Instruction Language
Azerbaijani
Course Type
Elective - Block 4
Course Description
This course provides a rigorous mathematical framework for analyzing the physical behavior of robotic arms. The curriculum focuses on forward and inverse kinematics using the Denavit-Hartenberg (D-H) representation to determine end-effector positions. Students explore Jacobian matrices for velocity analysis, singularity identification, and the recursive Newton-Euler or Lagrangian formulations for robot dynamics. The course emphasizes the relationship between joint torques and end-effector forces, as well as the mechanical constraints of various configurations. By the end of the semester, students will be capable of modeling complex multi-link systems, predicting trajectory performance, and developing the mechanical foundations necessary for precise control and motion planning in industrial and service robotics.
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