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About University of Oslo: Faculty of Mathematics and Natural Sciences
This document is an exam for a course on robotics. It consists of 6 questions assessing various topics in robotics. Question 1 asks about basic robotic system elements, degrees of freedom, common joint configurations, and orientation representation. Question 2 involves forward kinematics using Denavit-Hartenberg parameters. Question 3 covers inverse kinematics and workspace solutions. Question 4 derives the Jacobian and singular configurations. Question 5 explains dynamics, the Euler-Lagrange equations of motion, and derives dynamics for a 2DOF robot. Question 6 takes the Laplace transform of the equations of motion and discusses closed-loop control systems.
Detailed Information
| Author: | ['asalifew belachew'] |
|---|---|
| Publication Year: | 2020 |
| Pages: | 4 |
| Language: | English |
| Format: | |
| Price: | FREE |
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