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The Course Provides an Introduction to The Kinematics, Dynamics, Planning, and Control of Robot Manipulators. Kinematics# Homogeneous Transformations, Forward and Inverse Kinematics, Forward and Inverse Jacobians. Dynamics# Dynamics in Joint Space and Operational Space. Control# Motion Control, Pid Control, Inverse Dynamics Control, Force Control. Planning# Trajectory Planning, Motion Planning, Prm, Rrt. Robot Operating System (ros). Learning Outcomes# The Student Will Learn The Principles For Planning and Controlling The Motion of Robotic Manipulators, Starting From The Fundamental Kinematic and Dynamic Principles, and Up to Implementing Control Algorithms On The Robot Operating System (ros). The Student Will Implement Motion Planning and Control of a Robot In Simulation.

Faculty: Electrical and Computer Engineering
|Undergraduate Studies |Graduate Studies

Pre-required courses

44131 - Signals and Systems

Course with no extra credit

35001 - Introduction to Robotics 236927 - Introduction to Robotics

• Introduction to robotics : mechanics and control - Craig, John J.
• Introduction to Robotics : Mechanics and Control.
• Modern robotics : mechanics, planning, and control - Lynch, Kevin
• Planning algorithms - LaValle, Steven M.
• Planning algorithms [electronic resource] - LaValle, Steven M.
• Robotics [electronic resource] : Modelling, Planning and Control - Siciliano, Bruno.