Space Robotics

(4 Credits)

This class provides an overview for robot manipulators typically encountered in space applications. These can be either fixed to the ground or in a moving platform (spacecraft). The course covers: (1) homogeneous transformations, (2) Denavit-Hartenberg coordinate frame description, (3) Manipulator kinematics, (4) Manipulator dynamics, (5) Motion planning, (6) Motion control, (7) Force control, (8) Floating-base manipulators, (8) Flexible-link manipulators, (9) Robot simulation. The course targets robot arms employed in space applications and the term project will be used to explore the aforementioned issues.