This lecture overviews Robot Kinematics and Dynamic Modeling that has many applications in robotic control. It covers the following topics in detail: Robot Kinematics: Kinematic Equations, Forward kinematics, Inverse kinematics, Rotations. Dynamic Modeling, Robot Dynamics. Foundations from Classical Mechanics, Newton-Euler Method, Lagrange Method.
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Resource description
Introduction to ROS
This lecture overviews Introduction to ROS that has many applications in robotics and autonomous systems development. It covers the following topics in detail: ROS Distributions, HW, installation, architecture, master/nodes, communication (messages/topics), ROS tools (Catkin, rqt_graph, OpenCV Library, Gazebo).
State – Space Equations
This lecture overviews State –Space Equations that has many applications in digital filters, systems theory and deep learning. It covers the following topics in detail: Multiple Input-Output Systems, Single Input-Output Systems, IIR state-space system implementation, RNNs.
Fast Fourier Transform
This lecture overviews Fast Fourier Transform that has many applications in digital signal processing and analysis and in power spectrum estimation. It covers the following topics in detail: Transition from DFT to FFT, Decimation in Time (DIT) FFT, Decimation in Frequency (DIF) FFT, FFT Computation issues, Goertzel Algorithm, Bluestein Algorithm.
Discrete Fourier Transform
This lecture overviews Discrete Fourier Transform that has many applications in digital signal processing and analysis and in power spectrum estimation. It covers the following topics in detail: Discrete-Time Fourier Transform, Discrete Fourier Transform, Fast Convolution with DFT.
Z Transform
This lecture overviews Z Transform that has many applications in signal processing and systems theory. It covers the following topics in detail: Z transform, Inverse Z transform, Z Transform Properties, Transfer Function of a Digital System, Z transform and Laplace Transform.