4 Fundamental Types of manufacturing operations

Cybercut online CAD design tool

Coordinate frames, rotation matrices, transform algebra

Basics of chip formation

Linkage definition, workspace construction

Forward and inverse kinematics, basic definitions

Denavit-Hartenberg forward kinematics algorithm

Motion Planning

1. C-space construction: vertex, vector algorithms
2. Visibility graph algorithm
3. Trapezoidal decomposition algorithm
4. Quad-Tree decomposition algorithm
5. Potential Field algorithm

Grasping and Fixturing

1. Displacement and Form Closure
2. Rotation Center construction
3. Modular Fixturing
4. Finger, Clamp Placement
5. FixtureNet

Justification for Automated Assembly (Riley)

Part Feeding

1. Estimating Pose Statistics
2. Parallel-Jaw Gripper
3. Width (diameter) function

Consulting Project

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