KINEMATICS, DYNAMICS, AND CONTROL OF ROBOTIC MANIPULATORS

Name: KINEMATICS, DYNAMICS, AND CONTROL OF ROBOTIC MANIPULATORS
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ECE/ME 441

과목 설명

Robotics analysis and design, focusing on the analytical fundamentals specific to robotic manipulators. Serial chain robotic manipulator forward and inverse kinematics, differential kinematics, dynamics, trajectory generation, and controls. Builds on knowledge of high-level computational programming language such as Matlab.

선수과목

ME 340 and (MATH 320 , MATH 340 , MATH 341 , or MATH 375 ), graduate/professional standing, or member of Engineering Guest Students. Not open to students with credit for E C E 739 prior to fall 2024.

충족 요건

This course does not satisfy any prerequisites.

학점

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개설 시기

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평점

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변화 계산 불가

수료율

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변화 계산 불가

A 비율

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변화 계산 불가

학급 규모

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과거 데이터 대비 변화 없음

데이터 없음

강사 (2026 Summr)

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유사 과목

KINEMATICS AND DYNAMICS OF MACHINE SYSTEMS

ME 451

Graphical, analytical, and computer methods for the kinematic and dynamic analysis of mechanical linkages, mechanisms, and geared and cam systems.

INTRODUCTION TO MECHATRONICS

ME 376

Fundamentals of DC and AC circuit analysis and design, stressing tools needed to understand circuits typically used in instrumentation and control of physical systems (sensors/actuators); an introduction to the design of active and passive linear circuits for buffering and filtering signals; an introduction to digital circuits, Boolean logic, programming, especially as needed for computer interface operations in mechanical engineering applications (example: embedded microcontrollers). Laboratory exercises.

INTRODUCTION TO ROBOTICS

ECE/ME 439

Hands-on introduction to key concepts and tools underpinning robotic systems in use and development today. Intended to give students the tools to understand robotic systems, to explore robotics for their own purposes, and to pursue advanced study in the field. Students are expected to have familiarity with a high level programming language such as Python (recommended), MATLAB, Java or Julia.

ADVANCED ROBOTICS: MODERN MOTION PLANNING, ESTIMATION, AND CONTROL

ME 738

Rigid body models of robots, constraints and contact, motion planning methods including sampling based, trajectory optimizations, state estimation algorithms including linear observers and filters, Kalman filters, optimization-based filters, feedback control methods including linear controls, Impedance Control, optimization-based controllers, Differential Dynamic Programming, Lyapunov Analysis and Design, and Underactuations. Knowledge of robotic systems [such asE C E/M E 439andE C E/M E 441] is strongly recommended.

MECHATRONICS IN CONTROL & PRODUCT REALIZATION

ME 445

Fundamentals of electromechanical control systems with a focus on subsystem design and their impacts at the system level. Integration of microcontrollers into products for control and/or instrumentation. Creation of intelligent interfaces between motors and sensors. C programming. Control computer system architecture Software and hardware principles for computer control.