Introduction to computer-controlled robotic manipulators. Topics include coordinate frames and transformations, forward and inverse kinematic solutions to open-chain manipulators, the Jacobian, dynamics and control, and motion planning. In addition, special topics will be introduced such as computer vision, soft robotics, surgical robots, MEMS and microrobotics, and biomimetic systems. Laboratory exercises will provide experience with industrial robot programming and robot simulation and control.
Related Sections: Laboratory TBA
Prerequisite: Linear algebra (e.g., Mathematics 21a,b, Mathematics 22a,b, Mathematics 25a,b, Applied Mathematics 22a,b); introductory mechanics (e.g., Physics 15a, Physics 16, Physical Sciences 12a, Applied Physics 50a,b); programming experience (e.g., CS 50; MATLAB recommended).
GSD SCI 6274 is jointly listed with SEAS as Eng-Sci 259. Students may not take both for credit.