KINEMATICS, DYNAMICS, AND CONTROL OF ROBOTIC MANIPULATORS

Prerequisites & course information

Requisites: M E 340 and ( MATH 320 , 340 , 341 , or 375 ), graduate/professional standing, or member of Engineering Guest Students. Not open to students with credit for E C E 739 prior to fall 2024. Course Designation: Grad 50% - Counts toward 50% graduate coursework requirement Repeatable for Credit: No Last Taught: Spring 2026 Learning Outcomes: 1. Analyze and design serial chain robotic manipulator kinematics Audience: Both Grad & Undergrad 2. Simulate the dynamic motion of serial chain robotic manipulators Audience: Both Grad & Undergrad 3. Form the equations of motion for robotic manipulators Audience: Both Grad & Undergrad 4. Use feedback control for tracking and regulation of robotic manipulators for position, force, and hybrid control Audience: Both Grad & Undergrad 5. Use trajectory generation methods to design robotic manipulator motion and force trajectories Audience: Both Grad & Undergrad 6. Analyze the kinematics and controls of more complex serial chain manipulators Audience: Graduate 7. Design the kinematics of serial chain manipulators using kinematic and dynamics analysis methods Audience: Graduate Learning Outcomes: 1. Analyze and design serial chain robotic manipulator kinematics Audience: Both Grad & Undergrad 2. Simulate the dynamic motion of serial chain robotic manipulators Audience: Both Grad & Undergrad 3. Form the equations of motion for robotic manipulators Audience: Both Grad & Undergrad 4. Use feedback control for tracking and regulation of robotic manipulators for position, force, and hybrid control Audience: Both Grad & Undergrad 5. Use trajectory generation methods to design robotic manipulator motion and force trajectories Audience: Both Grad & Undergrad 6. Analyze the kinematics and controls of more complex serial chain manipulators Audience: Graduate 7. Design the kinematics of serial chain manipulators using kinematic and dynamics analysis methods Audience: Graduate