Advanced Mechanisms, Robotics
SO(3) and SE(3) spaces
Students will learn about and use the rotation group SO(3) along with multiple representations for rotation. They will also learn about homogeneous transformation matrices and the Euclidean group SE(3).
Serial Linkage Kinematics
Students will be gain experience (through a lab and homework) with analytical and numerical formulations for serial robot kinematics (both forward and inverse).
Serial Linkage Dynamics
Students will learn to derive the dynamic equations for a rigid serial manipulator using recursive Newton-Euler techniques as well as Lagrangian methods. Students will learn about the forward and inverse dynamics problem for a serial manipulator and implement what they learn in homework and a lab.
Joint Space vs. Cartesian Space
Students will differentiate between joint space and Cartesian space and the mathematical methods used to move from one space to the other both for kinematics and dynamics.
Students will learn about fundamental feedback control methods for robotics and apply what they learn in a course project.
Applications, Terminology, and Open Questions
Students will learn most common robot applications and terminology as well as being exposed to current open questions in robot manipulation.