Course Detail
Course Components:
Enrollment Information
Enrollment Requirement:
Prerequisites: "C-" or better in ((ME EN 1010 OR CS 1000 OR CH EN 1703) AND (PHYS 2210 OR PHYS 3210 OR AP Phys C:Mech score of 4 or better) AND MATH 2250)) AND Full Major status in Mechanical Engineering.
Meets with CS 6310 and ME EN 6220. 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.