2022-2023 Undergraduate and Graduate Bulletin (with addenda) 
    
    Jul 16, 2025  
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2022-2023 Undergraduate and Graduate Bulletin (with addenda)
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ME-GY 6623 Introduction to Robot Mechanics

3 Credits
Robot components and types, and their mathematical modeling. Spatial description of position and orientation.  Types and modeling of robotic joints. Differential rotation and translations.  Forward and inverse kinematics  Homogeneous transformation.  Denavit-Hartenberg kinematic convention.  Jacobian and mapping.  Manipulator statics and dynamics.  Robot mechanism design.  Power train and transmission.  Motion planning and control.  Kinematic/kinetic redundancy and optimaization.  Locomotion and balancing.  Biomimetics and humanoids.

Prerequisite(s): Prerequisites: ME 3223 and ME 3413, or instructor’s consent.


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