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Overview

Mechanical Engineering : Historical development and applications of robotic manipulators. Homogeneous transformations and geometry. Forward and inverse kinematics, manipulator Jacobian. Newton-Euler and Lagrangian formulations of inverse and forward dynamics. Trajectory planning for pick-and-place operations. Linear independent joint control and nonlinear model-based control schemes.

Terms: Winter 2025

Instructors: Sharf, Inna (Winter)

• (3-0-6)

• Prerequisites (Undergraduate): MATH 271 and MECH 412 / MECH 419 or permission of instructor

• Restriction: Not open to students who have taken MECH 573