ECE 6462 - 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.

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