ECE179D,ME179D - Introduction to Robotics: Robot Dynamics and Control
Co-requisits: ECE 130A or ME 155A
Dynamic modeling and control methods for robotic systems. Lagrangian method for deriving equations of motion, introduction to the Jacobian, and modeling and control of forces and contact dynamics at a robotic end effector. Laboratories encourage a problem-solving approach to control. Emphasis on nonlinear and underactuated dynamics systems, particularly mobile robots.