| |
Dec 14, 2025
|
|
|
|
|
ME 6040 - Mechanics and Control of Multi-Degree-of-Freedom-Systems
Techniques of analysis and design of multi-degree-of-freedom planar and spatial mechanical systems: kinematic structure, coordinate transformations, inverse solutions, workspace, path selection, dynamics, and control. Kinematically-redundant, mobile, parallel, and humanoid robots.
Requisites:
Credit Hours: 3
Repeat/Retake Information: May not be retaken.
Lecture/Lab Hours: 3.0 lecture
Grades: Eligible Grades: A-F,WP,WF,WN,FN,AU,I
Learning Outcomes:
- Ability to use Newton-Euler dynamics recursion analysis.
- Ability to use velocity analysis, Jacobian matrices, static wrenches, resolved-rate control simulation.
- Description and manipulation of pose descriptions-homogeneous transformation matrices.
- Understand Denavit-Hartenberg parameters.
- Understand forward pose kinematics and inverse pose kinematics.
- Understand kinematically-redundant robots.
- Understand mobile robots, humanoid robots, cable-suspended robots and parallel robots.
- Understand robot control architectures.
- Understand robot workspace and trajectory generation.
Add to Portfolio (opens a new window)
|
|
