Course Detail
Course Components:
Enrollment Information
Enrollment Requirement:
Prerequisites: CS 1000 AND MATH 2250 AND PHYS 2210.
The mechanics of robots, comprising kinematics, dynamics, and trajectories. Planar, spherical, and spatial transformations and displacements. Representing orientation: Euler angles, angle-axis, and quaternions. Velocity and acceleration: the Jacobian and screw theory. Inverse kinematics: solvability and singularities. Trajectory planning: joint interpolation and Cartesian trajectories. Statics of serial chain mechanisms. Inertial parameters, Newton-Euler equations, D'Alembert's principle. Recursive forward and inverse dynamics. Meets with CP SC 5310 and ME EN 5220.