ERAU-Prescott Robotics

Space Robotics
The Space Robotics Laboratory at ERAU Prescott
is located in the STEM Education Center (Bldg. 76).
Hexapod Mobile Robot
Six-legged robotics platform has been designed
by team PreSept for agile obstacle avoidance.
Capstone Class 2017
Team members from left to right: Robert Noble,
Austin Wild, Jennifer Stiles, Nick Harris,
Hilary Nelson, and Andrew Dittrich.
Capstone Class 2017
Team members from left to right: Steven Rudrich,
Sarah Pearson, Magnus Bergman, Kristin Sandager,
David Olson, Davis Fischer, Kevin Horn,
Mariah Sampson, Evan Kline, and Trentin Post.
Capstone Class 2018
Team members from left to right: Mathew Todd,
Jacqueline Worley, Grayson Lynch,
Chad Abramson, Garrison Bybee, Riley Griffin,
Morgan Garone, and Sara El Baissi.
Capstone Class 2018
Team members from left to right: Justin Maza,
Theodore Lilyeblade, Clayton Walker,
Bruce Nelson, Jonathan Buchholz, Andrew Petersen,
Emma Hutchison, and Alexandra Indritz.

ME 406 - Robotics II

This course provides students with an understanding of the dynamics and control of robotic systems. Students learn to model the dynamics of robotic systems using both the Euler-Lagrange formulation as well as the recursive Newton-Euler formulation. Students then learn how to utilize these dynamical models as the foundation for designing robot control systems. Assignments in the course use of actual robot found within the Space Robotics Laboratory.

Topics include:

Kinetic and Potential Energy;
Euler-Lagrange Formulation;
Properties of Equations of Motion;
Friction Models;
Symbolic Generation of Equations of Motion;
System Identification of Equation Parameters;
Recursive Kinematics;
Recursive Newton-Euler Formulation;
Numerical Simulation;
Lyapunov Stability Theory;
Configuration-Space Controllers;
Task-Space Controllers;