Advanced Robotics

3 credits · Graduate Programs

Review of kinematics and dynamics of serial-link manipulators and the Euler-Lagrange method. Kinematics and dynamics of parallel manipulators. Position, force, and impedance control of manipulators. Lyapunov stability. Feedback linearization. Advanced path and trajectory planning. Redundant manipulators and trajectory optimization. Prerequisite(s): Mechanical Engineering 505.