CS 569 - Introduction to Robotic Systems
The topics to be covered include
basic components of robotic systems;
selection of coordinate frames;
homogeneous transformations;
solutions to kinematic equations;
velocity and force/torque relations;
manipulator dynamics in Lagrange's formulation;
digital simulation of manipulator motion;
motion planning;
obstacle avoidance;
controller design using the computed torque method; and
classical controllers for manipulators.
| Credit: | 3 hours (class) |
| Prerequisite: | EE 382 and basic knowledge of vector-matrix manipulations, or EE 483, or consent of instructor |
| University Catalog: | CS 569 |
