Introduction to Robotics

Catalog description

This course is a technical elective where students learn about the present and future status of robot applications, and are required to apply fundamental knowledge of physics, mechanics, and mathematics to develop software to analyze and control robots. The course deals with mechanics and control of mobile robots, flying robots and robot manipulators. First, students are taught to describe position and orientation of a rigid body, including rotation matrix, roll-pitch-yaw angles and Euler angles. In addition, a brief introduction to feedback control system is provided. After these background materials, students learn about the following topics: a. kinematics and control of wheeled mobile robots, car-like mobile robots and quadrotor and b. 3-D kinematics, statics, dynamics and control of robot manipulators. Sensors, actuators and software used in industrial robots are discussed.