Robotics Programming

Catalog description

Credits 3. 3 Lecture Hours. Manipulator dynamics, position control, hybrid position/force control, and impedance controls; advanced topics in manipulator motion planning, assembly planning and grasp planning; cell decomposition; retraction; back projection; hypothesize-and-test; and potential field methods; subassembly stability; task-level and fine motion planning; grasp stability; grasp synthesis; dexterous manipulation. Prerequisite: CSCE 452 or approval of instructor.