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.
- 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;