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Courses - Fall 2024
ENPM
Engineering, Professional Masters Department Site
Open Seats as of
06/15/2024 at 09:30 AM
ENPM662
Introduction to Robot Modeling
Credits: 3
Grad Meth: Reg, Aud
This course introduces 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 homogenous 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.