Foundations of Robotics

Catalog description

his course presents the concepts, techniques, algorithms, and state-of-the-art approaches for mobile robots and robot manipulators covering modeling, control and simulation. The class will focus on direct and inverse kinematics problem, Denavit-Hartenberg representation, Euler and RPY angles, homogeneous transformations, Manipulator Jacobian, differential relationships, force and moment analysis, inverse Jacobian, trajectory generation and path planning. The final part will involve robot arm dynamics and PD and PID controllers for robotic manipulators, practical robotic system implementation aspects, limitations and constraints, and sensors and actuators. The students will practice these concepts using Matlab or an equivalent simulation environment. | Prerequisite: Graduate Standing