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Advanced Kinematics for Robotic System MSE 429 (3)

Introduction to kinematics of robot manipulators (serial and parallel). Serial: Forward and inverse kinematics for manipulators with spherical and non-spherical wrists. Parallel: Loop-closure equations and methods for solving polynomial systems. Trajectory generation: Joint and Cartesian spaces. Jacobians, velocity and static force analyses, singularities (kinematic, static and architectural). Introduction to dynamics. Prerequisite: MSE 222 and minimum of 80 units. Students with credit for MSE 490 - Advanced Kinematics for Robotic Systems (Fall 2016) cannot take MSE 429 for further credit. ENSC students declared as Systems Option majors may not take this course.

Section Instructor Day/Time Location
D100 Ramtin Rakhsha
Mo 8:30 AM – 9:20 AM
Th 8:30 AM – 10:20 AM
SRYE 3016, Surrey
SRYE 3016, Surrey
OPL Mo 11:30 AM – 2:20 PM
SRYC 4080, Surrey