ME EN 537
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Robotics - Kinematics, Dynamics, and Control
Mechanical Engineering
Ira A. Fulton College of Engineering
Course Description
In this course, we cover forward and inverse kinematics for serial robot manipulators, converting joint velocities to end-effector velocity, Lagrangian and Newton-Euler treatment of robot dynamics, basic robot manipulator control techniques, and an introduction to open questions in research on serial robot manipulation.
When Taught
Fall
Min
3
Fixed
3
Fixed
3
Fixed
0
Recommended
ME EN 431
Title
SO(3) and SE(3) spaces
Learning Outcome
Students will be able to define the orientation of rigid body using the rotation group SO(3). They will also be able to describe rigid body translation and rotation using homogeneous transformation matrices and the Euclidean group SE(3).
Title
Serial Linkage Kinematics
Learning Outcome
Students will be able to compute forward and inverse kinematic solutions for serial robot arms.
Title
Serial Linkage Dynamics
Learning Outcome
Students will be able to derive the dynamic equations for a rigid serial manipulator using recursive Newton-Euler and Euler-Lagrange methods. Students will be able to apply these equations for numerical simulation and common control methods.
Title
Joint Space vs. Cartesian Space
Learning Outcome
Students will understand the difference between joint space and Cartesian space and be able to use appropriate mathematical methods to move from one space to the other for both kinematics and dynamics.
Title
Robot Control
Learning Outcome
Students will be able to implement and simulate performance for fundamental feedback control methods for serial robot arms.
Title
Applications, Terminology, and Open Questions in Robotics
Learning Outcome
Students will learn about common robot applications and terminology, and then apply what they learn to solve an open question in the field or implement a demonstration for a final course project.
