Introduction to Robotics: Robot Dynamics and Control

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.

Units: 

4

Prerequisites: 

none

Course Number: 

ECE179D/ME179D