Nov 18, 2019  
2016-2017 Faculty of Engineering and Applied Science Calendar-ARCHIVED 
    
2016-2017 Faculty of Engineering and Applied Science Calendar-ARCHIVED [ARCHIVED CATALOG]

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MECH 456 Introduction to Robotics W | 3.5


Lecture: 3
Lab: 0
Tutorial: 0.5
This course will cover the following topics in the field of robotics: historical development; robot components (sensors, actuators, and end effectors, and their selection criteria); basic categories of robots (serial and parallel manipulators, mobile robots); mobility/constraint analysis; workspace analysis; rigid body kinematics (homogeneous transformation, angle and axis of rotation, Euler angles, roll-pitch-yaw angles, cylindrical and spherical coordinates); manipulator kinematics and motion trajectories (displacement and velocity analyses, differential relations, Jacobian matrix); non-redundant and redundant sensing/actuation of manipulators; manipulator statics (force and stiffness); singularities; and manipulator dynamics.

Academic Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 21
Engineering Design 21

PREREQUISITE(S): MECH 350  or MTHE 332  (MATH 332) or ELEC 443  or permission of the instructor
EXCLUSION(S): ELEC 448  



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