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Instructor: Prof. John T. Wen, CII 8015, x6156 wenj at rpi . edu
Office Hour: W/F 9-10
Class Hours: M/Th 4-5:30pm (W 4-5:30 is reserved for make-up lectures)
Class Room: JEC 4107
This course covers the tools and methods for the kinematics and dynamics analysis and control design for robots, including articulated manipulators, platform type of manipulators, and mobile vehicles. The classes of robots that will be considered include open chain manipulators, closed chain manipulators such as multifingered hands, parallel robots, and nonholonomic systems such as wheeled robots. The emphasis will be placed on developing a systematic understanding of the basic principles in the analysis, control, and planning of robotic systems. There will be reading assignments, homework, midterm and final take home exams, and a course project.
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