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.