EMIS-4103:Applied Robotics Systems

Description
This course aims to provide an introduction to the mechanics of robots. The theoretical focus is on kinematics and dynamics of robotic manipulators, and control design for nonlinear mechanical systems. Topics covered include homogeneous coordinate transformations, representation of spatial orientation, Denavit-Hartenberg link s, forward and inverse kinematics, Jacobian rate and static force relations, multi-rigid-body dynamic, singularities, actuators, and sensors, and control design. The applied component of the unit includes experimental work with robotic manipulators and a mechatronic design. Lecture 2 hrs/wk, Lab 2 hrs/wk.