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Home > Academics > Course Information > Courses > E35 - ESE 447 - Robotics Laboratory
E35 - ESE 447 - Robotics Laboratory
Total Credits: 3
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Introduces the students to various concepts such as modeling, identification, model validation and control of robotic systems. The course focuses on the implementation of identification and control algorithms on a two-link robotic manipulator (the so-called pendubot) that will be used as an experimental testbed. Topics include: Introduction to the mathematical modeling of robotic systems; nonlinear model, linearized model; Identification of the linearized model: input-output and state-space techniques; Introduction to the identification of the nonlinear model: energy-based techniques; model validation and simulation; stabilization using linear control techniques; a closer look at the dynamics; stabilization using nonlinear control techniques. Prerequisite: ESE 351 or MAE 417.
Course Offerings:
| Semester |
Section |
Instructor |
Day/Time |
Room |
| Spring 2009 |
01 |
Ganesan |
W
5:30PM-7:00PM |
Earth & Planetary Sciences 102
|
|
A |
Ganesan |
F
12:00PM-3:00PM |
Urbauer 14
|
|
B |
Ganesan |
F
3:00PM-6:00PM |
Urbauer 14
|
| Spring 2008 |
01 |
Ganesan |
M
5:30PM-7:00PM |
Lopata Hall 201
|
|
A |
Ganesan |
F
1:00PM-3:00PM |
Urbauer 14
|
|
B |
Ganesan |
F
3:00PM-5:00PM |
Urbauer 14
|
| Fall 2007 |
01 |
CANCEL FL07 |
Th
1:00PM-2:00PM |
TBA
|
|
A |
[TBA] |
F
10:00AM-1:00PM |
Urbauer 14
|
|
B |
[TBA] |
F
1:00PM-4:00PM |
Urbauer 14
|
|
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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