Robot Modelling and Control

3 credits

Spatial description and homogeneous transformations, manipulator kinematics (forward and inverse), Jacobian, motion trajectories. Manipulator dynamics, Lagrange-Euler and Newton-Euler formulation. Linear and nonlinear control, force control. Industrial robotic system and programming. Credit will be granted for only one of ENGR 486 or ENGR 586. [3-0-0] Prerequisite: ENGR 315.