Course Description for Robotics Engineering II
Robotics Engineering II
Prerequisite: EML 4313 or equivalent, EML 4806 or equivalent
Description: This course provides an introduction to control techniques associated with spatial serial and parallel manipulator systems. Velocity and force/torque relations and resolved motion rate control for serial and parallel manipulators are covered. State-space equations of robots, controller design based on linearization, nonlinearity cancellation, optimal control, adaptive control and other methods are studied.