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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 |
|---|---|---|---|
|
Ramtin Rakhsha |
Jan 10 – Apr 11, 2022: Tue, 4:30–7:20 p.m.
|
Surrey |
|
| OPL1 |
Jan 10 – Apr 11, 2022: Wed, 1:30–4:20 p.m.
|
Surrey |