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MECH 563 Robotics: Kinematics, Dynamics and Control

Definitions and classification Kinematics: homogeneous transformations, manipulator kinematic equations, forward and inverse kinematic solution methods, differential kinematic equations, motion trajectories. Dynamics: Lagrange-Euler formulations, Newton-Euler formulation. Control: methods of control, robot control hierarchy, control of single joint and multiple link manipulators, advanced control methods.

This course is not eligible for Credit/D/Fail grading.

Credits: 3

Status Section Activity Term Interval Days Start Time End Time Comments
  MECH 563 201 Lecture 2 Tue Thu 11:00 12:30
  MECH 563 T2A Tutorial 2 Fri 12:00 13:00