MEC 549 - Robot Dynamics and Control

This course will cover the fundamentals of dynamic modeling and control techniques for robots, focusing mainly on robot manipulators. The dynamic modeling part includes Lagrange formulation, Newton Euler formulation, properties of the dynamic equations, and trajectory planning with dynamic constraints, and the control part includes nonlinear systems, state-space representation, Lyapunov stability theorems, feedback linearization, linear controller design, position control, motion control, inverse dynamics control, robust control, adaptive control, force control, impedance control, hybrid motion force control, and implementation of controllers.

3 credits

Prerequisite(s): MEC 529

Grading Letter graded (A, A-, B+, etc.)

Repeatable May be repeated for credit.