IUPUI School of Engineering and Technology

IUPUI School of Engineering and Technology

Introduction to Robotic Systems

ECE 56900 / 3 Cr. (3 Class)

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Basic components of robotic systems; selection of coordinate frames; homogeneous transformations; solutions to kinematics of manipulator arms; velocity and force/torque relations; dynamic equations using Euler-Lagrange formulation; digital simulation of manipulator motion; motion planning; obstacle avoidance; controller design using torque method; and classical controllers for manipulators. Lab experiments and final project required.