Mechanical Engineering

ME4173*Robot Kinematics4 ch (3C 2L*2T*)

Structure and specification of robotic manipulators. Homogeneous transformations and link descriptions. Manipulator forward and inverse displacement solutions. Jacobians in the velocity and static force domains. Singular configurations and workspace analysis. An introduction to trajectory planning and manipulator dynamics. Lab experiments explore several robotic manipulators. 

Prerequisites: MATH 2513 and ME 2143.