Selected topics of current importance in mechanical engineering. Analysis of spatial mechanisms and robot manipulators. The main emphasis is on open-loop manipulators. Design of mechanisms from conceptual and dimensional points of view. Systematic methods of synthesis are introduced.
Emphasis is on planar mechanisms.
A brief introduction to the kinematics of spatial mechanisms is covered. ENME 403 or permission of instructor. Modern control theory for both continuous and discrete systems. State space representation is reviewed and the concepts of controllability and observability are discussed. Design methods of deterministic observers are presented and optimal control theory is formulated.