Topics covered include foundations of kinematics, kinematics of robotic mechanisms, review of basic systems theory, control of dynamical systems. Advanced topics will may include motion planning and collision avoidance, adaptive control, and hybrid control. This course covers basic concepts and tools for the analysis, design, and control of robotic mechanisms. Topics covered include foundations of kinematics, kinematics of robotic mechanisms, review of basic systems theory, and control of dynamical systems.
Advanced topics covered include motion planning, adaptive control, and workspace control.
Additional topics may be included if time permits. This course is designed to be a challenging course for graduate students in the Robotics program. A well-prepared student would have a strong background in mathematics and engineering, including multivariate calculus, differential equations, linear algebra, controls or linear systems, and classical mechanics. They will be expected to put in substantial additional time and effort to address these gaps. We will suggest supplementary readings and problems for those who need them.