Introduction to Robotics

Catalog description

The rapidly evolving field of robotics includes systems designed to replace, assist, or even entertain humans in a wide variety of tasks. Recent examples include human-friendly robot arms for manufacturing, interactive robotic pets, medical and surgical assistive robots, and semi-autonomous search-and-rescue vehicles. This course presents the fundamental kinematic, dynamic, and computational principles underlying most modern robotic systems. The main topics of the course include: rotation matrices, homogeneous transformations, manipulator forward kinematics, manipulator inverse kinematics, Jacobians, path and trajectory planning, sensing and actuation, and feedback control. The material is reinforced with hands-on lab exercises involving a robotic arm.