Mechanical Engineering5143*Robot KinematicsME4 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 2143NOTE: Credit will not be granted for both ME 5143 and ME 4173.