Class 3. P: ECE 382 Basic components of robotic systems; selection of
coordinate frames; homogeneous transformations; solutions to
kinematics of manipulator arms; velocity and force/torque relations;
dynamic equations using Euler-Lagrange formulation; digital simulation
of manipulator motion; motion planning; obstacle avoidance; controller
design using torque method; and classical controllers for
manipulators. Lab experiments and final project required.