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Course Descriptions

MECH_ENG 449: Robotic Manipulation

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Prerequisites

Linear algebra, first-order linear ODEs, freshman-level physics/mechanics, basic programming background (MATLAB, Python, or Mathematica)

Description

Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory.  Forward, inverse, and differential kinematics.  Robot dynamics, trajectory planning, and motion control.  Wheeled mobile robots and mobile manipulation.

Who Takes It

This course can be taken by any student who meets the prerequisites, sophomores through graduate students.

What It's About

More information can be found at http://hades.mech.northwestern.edu/index.php/ME_449_Robotic_Manipulation

Assessment/Evaluation

Problem sets, programming assignments in a robot simulation environment, and two exams.

Textbook

Modern Robotics, K. M. Lynch and F. C. Park, Cambridge University Press, 2017.

Contact

Professor: Kevin Lynch Email: kmlynch@northwestern.edu