ME EN6220
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ME EN6220 - Robotics I: Mechanics (3 cr)
Description
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.
Minimum Credits
3
Maximum Credits
3
Repeat for Credit
No
Required Requisite(s):
Prerequisites: Graduate Status in Mechanical Engineering OR Instructor Consent.
Semesters Typically Offered
Fall