MEEG 52003 — Robot Modeling and Simulation
This is a graduate level course in Robotics dealing with the behavioral study of robots. Topics covered in this course will include but not limited to the following: mathematical modeling of robots, rigid motions and homogeneous transformation, forward/inverse kinematics of robots, velocity kinematics, path and trajectory planning, robot dynamics, joint control, PD/PID control, and multivariable control. Advanced topics may include passivity-based motion control, geometric nonlinear control, computer vision, vision-based control, and sensor fusion. Prerequisite: Graduate standing in MEEG or ELEG and consent of the instructor. (Typically offered: Spring)