Dynamics of Robotic Systems

Description

Lecture, four hours; discussion, two hours; outside study, six hours. Enforced requisite: course C163A. 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, … For more content click the Read More button below.

Lecture, four hours; discussion, two hours; outside study, six hours. Enforced requisite: course C163A. 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 C263B. Letter grading.

Instructional Format

Primary Format

Lecture

Secondary Format

Discussion

Additional Format

Outside study

Concurrent Course

MECH&AE C263B - Dynamics of Robotic Systems

A pair of upper-division undergraduate and graduate courses that share a primary activity. They are scheduled at the same time and place with the same instructor.

General Catalog 2023-24