ELEC 6606 - Robot Control

Prerequisite: ELEC 6605. Orientation coordinate transformations, configuration coordinate transformations, Denavit-Hartenberg coordinate transformation, D-H matrix composition, inverse configuration kinematics, motion kinematics, force and torque relationships, force and moment translation, trajectories, coordinated motion, inverse dynamics, position control, feedback systems, performance measures, PID control, inverse dynamic feedforward control, nonlinear control. 3 credits.