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Sep 08, 2024
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2022-2023 Undergraduate and Graduate Bulletin (with addenda)
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ME-GY 6913 Introduction to Robot Mechanics3 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 optimization. Locomotion and balancing. Biomimetics and humanoids.
Prerequisite(s): ME-UY 2223 and ME-UY 3413 or instructor’s consent (for undergraduates) or Graduate Standing
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