ECE470H1: Robot Modeling and Control

0.50
38.4L/12.8T/19.2P

Classification of robot manipulators, kinematic modeling, forward and inverse kinematics, velocity kinematics, path planning, point-to-point trajectory planning, dynamic modeling, Euler-Lagrange equations, inverse dynamics, joint control, computed torque control, passivity-based control, feedback linearization.

49.2 (Fall), 53.4 (Winter), 102.6 (Full Year)