<p>Lecture, four hours; discussion, two hours; outside study, six hours. Recommended requisites: courses 155, 171A. Kinematical models of serial robotic manipulators, including spatial descriptions and transformations (Euler angles, Denavit-Hartenberg/DH parameters, equivalent angle vector), frame assignment procedure, direct kinematics, inverse kinematics (geometric and algebraic approaches), mechanical design topics. Concurrently scheduled with course C263A. Letter grading.</p>

Mechanical and Aerospace Engineering

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Henry Samueli School of Engineering and Applied Science

Applications include aircraft, spacecraft, automobiles, energy and propulsion systems, robotics, machinery, manufacturing and materials processing, microelectronics, biological systems, and more.

General Catalog

Kinematics of Robotic Systems

MECH&AEC163A

4 units