ME 406 - Robotics II

This course will provide students with an understanding of the dynamics and control of robotic mechanisms. Emphasis will be placed on the sequential development of the dynamical equations of motion from the Lagrangian formulation of mechanics. A Lyapunov approach to the control of robots will build upon the energy-based Lagrangian dynamics formulation. The topic of linear and nonlinear feedback position and trajectory tracking controllers will be discussed.

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