MECH 572 Mechanics and Control of Robotic Manipulators (3 credits)

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MECH 572 Mechanics and Control of Robotic Manipulators (3 credits)

Note: This is the 2021鈥�2022 eCalendar. Update the year in your browser's URL bar for the most recent version of this page, or .

Offered by: Mechanical Engineering (Faculty of Engineering)

Overview

Mechanical Engineering : Historical development and applications of robotic manipulators. Homogeneous transformations and geometry. Forward and inverse kinematics, manipulator Jacobian. Newton-Euler and Lagrangian formulations of inverse and forward dynamics. Trajectory planning for pick-and-place operations. Linear independent joint control and nonlinear model-based control schemes.

Terms: Fall 2021

Instructors: Sharf, Inna (Fall)

(3-0-6)
Prerequisites (Undergraduate): MATH 271 and MECH 412 / MECH 419 or permission of instructor
Restriction: Not open to students who have taken MECH 573