Catalog Course Description

This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, control of robot manipulators, robotic vision, sensing, forward & inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, & control. We will present techniques for geometric motion planning & obstacle avoidance. Open problems in trajectory generation with dynamic constraints will also be discussed. The course also presents the use of the same analytical techniques as manipulation for the analysis of images & computer vision. Low level vision, structure from motion, & an introduction to vision & learning will be covered. The course concludes with current applications of robotics.

Fall Term

3 hours of Instructor presentation of course materials per week and 5 hours of Outside Work Hours per week and 3 hours of Instructional experiences requiring special laboratory equipment and facilities per week and 1 hours of The exchange of opinions or questions on course material per week.

Summer Term

6 hours of Instructor presentation of course materials per week and 10 hours of Outside Work Hours per week and 6 hours of Instructional experiences requiring special laboratory equipment and facilities per week and 2 hours of The exchange of opinions or questions on course material per week.

Spring Term

3 hours of Instructor presentation of course materials per week and 5 hours of Outside Work Hours per week and 3 hours of Instructional experiences requiring special laboratory equipment and facilities per week and 1 hours of The exchange of opinions or questions on course material per week.