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.

Quarters Scheduled: 

2011b Spring,2012b Spring,2012d Fall,2014b Spring,2015b Spring,2015d Fall

Units: 

4

Prerequisites: 

none

Course Number: 

ECE179D/ME179D