Dynamics of Robotic Systems

MECH&AE C163B - Dynamics of Robotic Systems

<p>(Formerly numbered 263B.) Lecture, four hours; discussion, two hours; outside study, six hours. Enforced requisite: course C263A. Recommended: course 255B. Dynamics models of serial and parallel robotic manipulators, including review of spatial descriptions and transformations along with direct and inverse kinematics, linear and angular velocities, Jacobian matrix (velocity and force), velocity propagation method, force propagation method, explicit formulation of Jacobian matrix, manipulator dynamics (Newton/Euler formulation, Lagrangian formulation), trajectory generation, introduction to parallel manipulators. Concurrently scheduled with course C163B. 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

Dynamics of Robotic Systems

MECH&AE C263B

4 units