This course provides a comprehensive treatment on the fundamentals of robotics, particularly in kinematics and dynamics. Topics include: Forward kinematics: homogeneous transformations, the Denavit-Hartenberg representation of linkages. Inverse kinematics: closed-form and numerical solutions. Differential motion, Jacobian matrix, singularities. Dynamics: Euler-Lagrange formulation. Trajectory generation. Motion and interaction control of robotic manipulators. Actuators and sensors. Lect: 3 hrs./Lab: 1 hr. Prerequisite: ELE 639 or MEC 709 Course Weight: 1.00 Billing Units: 1
