Introduction to Robot Manipulation
ENG-SCI 159
Subject & Catalog Number
Course Information
Description
Introduction to computer-controlled robotic manipulators. Topics include coordinate frames and transformations, forward and inverse kinematic solutions to open-chain manipulators, the Jacobian, dynamics and control, and motion planning. In addition, special topics will be introduced such as computer vision, soft robotics, surgical robots, MEMS and microrobotics, and biomimetic systems. Laboratory exercises will provide experience with industrial robot programming and robot simulation and control.
Course Notes
Laboratory will be scheduled after classes begin, based on students' and course staff's availability. Eng-Sci 159 is also listed as Eng-Sci 259. Students may not take both for credit. Graduate students must enroll in 259. The material in 259 is the same as in 159, but with additional problems on the problem sets and a final project.
Recommended Prep
*Linear algebra and multivariable calculus: matrix operations, positive definiteness of a matrix, determinants, complex numbers, eigenvalues and eigenvectors, partial derivatives and integration (e.g., Mathematics 21a,b, Mathematics 22a,b, Mathematics 25a,b, Applied Mathematics 22a,b). *Introductory mechanics: free-body diagrams with masses, springs, and dampers, vector forces and vector torques (e.g., Physics 15a, Physics 16, Physical Sciences 12a, Applied Physics 50a,b). *Programming experience (e.g., CS 50; MATLAB recommended).
Available for Harvard Cross Registration
NOTE: This course requires additional sections; you will be prompted to choose secondary components during the Add to Cart process
