MAE 575 - Robot Modeling and Control

(3 units)

Prerequisites: Open to Mechanical Engineering MS, Aerospace Engineering MS, or Engineering MS students only.
Detailed study of rigid body dynamics with emphasis on robot arm analysis. Three-dimensional kinematic analysis. Rotational and homogeneous transformations. Eulerian angles. Denavit Hartenberg representation. Kinematic chains. Recursive formulas. Euler’s moment equations and gyrodynamics. Multi- body analysis. Lagrange’s equations. Special topics.

Letter grade only (A-F). (Lecture-problems 3 hours)