Course Detail
Course Components:
Enrollment Information
Enrollment Requirement:
Recommended Prerequisite: CP SC 1000 and MATH 2250 and upper division ME EN status.
Meets with CP SC 6310. 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.