EEC 647 - Robot Dynamics and Control

(4 credits)

Prerequisite(s): MCE 441/MCE 541 or EEC 510 or exposure to undergraduate controls, with instructor consent. Study of robotic manipulator systems, with strong emphasis on dynamics and control. Energy-based nonlinear models. Motion control using PD, inverse dynamics and passivity. Geometric nonlinear control applied to robotic manipulators.

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