Robotics: Kinematics, Dynamics and Control

3 credits

Definitions and classification Kinematics: homogeneous transformations, manipulator kinematic equations, forward and inverse kinematic solution methods, differential kinematic equations, motion trajectories. Dynamics: Lagrange-Euler formulations, Newton-Euler formulation. Control: methods, robot control hierarchy, control of single joint and multiple link manipulators, advanced control methods. Credit will be granted for only one of ELEC_V 442, EECE_V 571R, EECE_V 589, MECH_V 464, or MECH_V 563. This course is not eligible for Credit/D/Fail grading.