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Apr 19, 2024
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EE 5290 - Mechanics and Control of Robotic Manipulators
Classification and applications for mechanical manipulator systems. Manipulator motion description, forward kinematics transformations, and solution of inverse kinematics equations. Velocity kinematics and manipulator dynamics equations. Trajectory generation and control schemes including sensory feedback. Laboratory exercises to augment lecture material.
Requisites:
Credit Hours: 3
Repeat/Retake Information: May not be retaken.
Lecture/Lab Hours: 3.0 lecture
Grades: Eligible Grades: A-F,WP,WF,WN,FN,AU,I
Learning Outcomes:
- Ability to perform robot trajectory generation.
- Ability to solve forward and inverse pose kinematics equations.
- Familiarity with applications, architectures, and control methods for serial robot arms.
- Familiarity with parallel robots, redundant robots, and robot dynamics.
- Familiarity with pose (position and orientation) mathematics via transform matrices.
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