To Be Offered Spring 2007
Robot Control ECEN 5438

robotic hand
Lecturer: Dr. Todd Murphey
Time: TR 2:00-3:15 PM
Location: ECCR 133
Prerequisites:
 Controls course and comfort with linear algebra
mars rover picture
 
Topics Covered:  This class will cover the fundamentals of robot control, including rigid body transformations, rigid body kinematics, and rigid body dynamics. 
Intended Audience:  The material covered in this course is intended for anyone interested in robotics, computer graphics, and/or control theory.  The class will be oriented towards graduate students, but undergraduates are encouraged to contact Dr. Murphey if they are interested in taking the class. 
Prerequisites:  The prerequisites are a good linear algebra course and any introductory control theory class. 

Material to be covered in this class includes the following.
  1. Homogeneous transformations and relative coordinate frames
  2. Representations of orientation
  3. Forward (direct) kinematics of robot manipulators
  4. Inverse kinematics of robot manipulators
  5. Robot velocities and static forces
  6. Manipulator dynamics
  7. Linear and nonlinear position control of robot manipulators
  8. Nonholonomic systems and nonlinear controllability
  9. Lagrangian mechanics, Euler-Lagrange Equations, Poincare Equations
  10. Other topics to be announced ...
Classroom grading will consist of homework sets, exams and/or projects, and classroom participation.   Each student will be required to come to office hours at least once. 

For questions or comments, please email