Robotic Systems

Catalog description

This course develops understanding of the kinematic and dynamic modeling, design, and control of robots functioning in both terrestrial and aerial environments. Topics include inertial and body reference frames, rigid body motion, homogeneous transformations, Denavit-Hartenberg representation, forward and inverse kinematics, Lagrangian dynamics, modeling in Simulink, linear control design, introduction to advanced controllers, optimal control of a quadrotor. Students conduct hands-on experiments with mobile robots, manipulators and quadrotors. Prerequisites: ME 321 .