EN 3713 Robotics

Three hours (On Campus)

This course provides an introductory survey of fundamental topics for robotic mechanisms including mechanics, planning, and other selected topics. The course begins with an overview of configuration space and rigid-body motion. These topics provide the necessary mathematical framework for what follows: forward kinematics (how joint positions determine end-effector position and orientation), velocity kinematics and statics, and inverse kinematics (determining joint positions to achieve the desired end-effector configuration). The course concludes with selected topics based on student interest which may include kinematics of closed chains, dynamics of open chains, trajectory generation, motion planning, robot control, grasping and manipulation, and/or wheeled mobile robots. The course contains a practical project. Three hours lecture-discussion. An additional fee may be associated with this course.

Prerequisites: CS 1113 and either MTH 1153 or MTH 2114
Offered on campus Spring semester (odd-numbered years)