ROBO 601 Robot Dynamics and Control
This course will teach fundamentals of kinematics, dynamics and control of robotic systems, mostly focusing on serial robotic manipulators and mobile robot platforms. The students will learn to derive the equations of motion of robot systems, including kinematics and dynamics of serial link manipulators and mobile robot platforms. They will learn transformation from task space to joint space, for joint space control. They will learn both theoretical and practical aspects of designing robot controllers using classical and state?space methods. We will study robots operating in free space and in contact with the environment.