ME 5661 - Robot Dynamics and Controls (3)

Overview of Robotics, Homogeneous Transformation, Denavit-Hartenberg Convention, Forward and Inverse Kinematics, Velocity Kinematics and Manipulator Jacobian, Dynamic Modeling of Robot Manipulators Using Lagrangian Dynamics, Iterative Newton-Euler Formulation, Independent Joint Controls, Stability Analysis, Lyapunov Methods, Computed-Torque and Other Control Methods. 3 hours lecture/problem-solving.

Component(s): Lecture
Contact Hour(s): 3 hours lecture/problem-solving.
Grading Basis: Graded Only
Repeat for Credit: May be taken only once