SYS 623 - Dynamics and Control of Robot Manipulators

(4 credits)

Cartesian and joint space representations and transformations. The Denavit-Hartenberg (D-H) convention and parameter tables. Robotic forward and inverse kinematics and task planning. Newton-Euler and Lagrangian dynamic models and formulations. Robotic joint servo control, position control, force control, compliant motion and many industrial application aspects. Computer numerical and graphical simulations. Offered winter.

Prerequisite(s): Student must meet prerequisite (SYS 520 or ECE 520).

Course updates made after the Graduate Catalog publication date will be posted in the Addendum to the Graduate Catalog.