ELEC 426

Robotics

Units: 1.5, Hours: 3-1.5

Structure and specification of robot manipulators. Homogenous transformations. Link description. Manipulator kinematics. Inverse manipulator kinematics. Velocity and static forces in manipulators. An introduction to manipulator dynamics. Linear control of robot motion. Model-based nonlinear control of robot manipulators.

Note: Credit will be granted for only one of 426, 425, 475, MECH 430.

Prerequisites: 360, MECH 141 or 245, PHYS 122.

Undergraduate course in Electrical Engineering offered by the Department of Electrical and Computer Engineering in the Faculty of Engineering.