Robotics

3 credits · Undergraduate

History and application of robots. Robotic mechanical architecture, mobility analysis of linkages, rotations and rigid body transformations and their parametrizations. Homogeneous coordinates of points and lines, exponential coordinates of rotation and twist coordinates, direct and inverse position analysis of serial manipulators and elimination theory. Serial robot statics and compliance, motion interpolation/path planning, instantaneous kinematics and Jacobian formulations. Lagrangian dynamics of serial robots, and motion control. Prerequisite: One of MATH 2400, 2410, 2500, 2501, or 2600. [3]