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ECSE-6410

Robotics and Automation Systems: Rigid Body Kinematics and Dynamics

Kinematics and dynamics of general manipulator systems. Product of exponential formula. Closed kinematics chains, parallel robot, and mobile robots. Motion and force control through feedback. Path planning. Trajectory generation. Calibration and identification. Sensor fusion. Prerequisite: ECSE-6400; ECSE-4490 is desirable. Spring term odd-numbered years.

3 credit hours
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