ME EN5220

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.

Prerequisites: 'C' or better in ((ME EN 1010 OR CH EN 1703) AND (MATH 2250 OR (MATH 2270 AND MATH 2280)) AND (PHYS 2210 OR PHYS 3210 OR AP Phys C:Mech score of 4+) AND Major Status in ME EN AND ME EN 2-5XXX Eligible AND NOT ME Advising Hold

Fall