Course Description
The course represents advanced approaches to modelling, control and applications of robot manipulators. Topics include kinematic modelling of manipulators using the theory of screw and screw operators; methods for obtaining dynamic model of manipulators; control of manipulators based on independent joint and multivariable control approaches, control of the contact forces between a manipulator and its environment; and adaptive control of manipulators. The course also discusses modelling and control of grasping/manipulation using a dexterous end-effector. Laboratory experiments are performed to complement the control theoretic part of the course.
Prerequisites
Successful completion of <a href=/undergrad/courses/ENSC488.html>ENSC 488-4</a> and <a href=/grad/courses/ENSC801.html>ENSC 801-3</a> or permission of the instructor is required for students wishing to take this course.