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.

Usually Offered:	Fall
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
Schedule:	Fall 2004 Instructor: Antti Koivo