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Home > Academics > Course Information > Courses > E35 - ESE 446 - Robotics: Dynamics And Control
E35 - ESE 446 - Robotics: Dynamics And Control
Total Credits: 3
Homogeneous coordinates and transformation matrices. Kinematic equations and the inverse kinematic solutions for manipulators, the manipulator Jacobian and the inverse Jacobian. General model for robot arm dynamics, complete dynamic coefficients for six-link manipulator. Synthesis of manipulation control, motion trajectories, control of single- and multiple-link manipulators, linear optimal regulator. Model reference adaptive control, feedback control law for the perturbation equations along a desired motion trajectory. Design of the control system for robotics. Prerequisites: ESE 317, 351 or 441, and knowledge of a programming language.
Course Offerings:
| Semester |
Section |
Instructor |
Day/Time |
Room |
| Spring 2009 |
01 |
Tarn |
F
2:30PM-4:00PM |
Lopata Hall 103
|
|
01 |
Tarn |
MW
2:30PM-4:00PM |
Cupples II 220
|
| Spring 2008 |
01 |
Tarn |
F
3:00PM-4:30PM |
Cupples II 202
|
|
01 |
Tarn |
MW
4:00PM-5:30PM |
Lopata Hall 202
|
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Department of Electrical and Systems Engineering, Washington University in St. Louis
One Brookings Drive, Box 1127, St. Louis, Missouri 63130
Office Location: Bryan 201, Phone: (314) 935-5565, Fax: (314) 935-7500 |
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