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Courses - Fall 2019
ENEE
Electrical & Computer Engineering Department Site
ENEE469R
Topics in Controls; Introduction to Robotics
Credits: 3
Grad Meth: Reg
Prerequisites: ENEE322 and permission of ECE Department.

Restriction: Permission of Electrical & Computer Engineering required.

An introduction of basic principles for modeling a robot. Most of the course is focused on modeling manipulators based on serial mechanisms. The course begins with a description of the homogeneous transformation and rigid motions. It then introduces concepts related to kinematics, inverse kinematics, and Jacobians. This course then introduces Eulerian and Lagrangian Dynamics. Finally, the course concludes by introducing basic principles for modeling manipulators based on parallel mechanisms. The concepts introduced in this course are subsequently utilized in control and planning courses.