CIT 520 Intro to Robotics

Short Description

This course presents the fundamental kinematic, dynamic, and computational principles underlying most modern robotic systems. The main topics of the course include: rotation matrices, homogeneous transformations, manipulator forward kinematics, manipulator inverse kinematics, Jacobians, path and trajectory planning, sensing and actuation, and feedback control.

Portfolio Building Course

No

Pre-Requisites

Students should have knowledge of simple geometry and trigonometry (triangle inequalities, sine, cosine), previous exposure to linear algebra (matrices and vectors), calculus (differentiation, integration) physics (basics mechanics), and previous programming experience.

Content

The rapidly evolving field of robotics includes systems designed to replace, assist, or even entertain humans in a wide variety of tasks. Recent examples include human-friendly robot arms for manufacturing, interactive robotic pets, medical and surgical assistive robots, and semi-autonomous search-and-rescue vehicles. This course presents the fundamental kinematic, dynamic, and computational principles underlying most modern robotic systems. The main topics of the course include: rotation matrices, homogeneous transformations, manipulator forward kinematics, manipulator inverse kinematics, Jacobians, path and trajectory planning, sensing and actuation, and feedback control. The material is reinforced with hands-on lab exercises involving a robotic arm.

Course Offerings

Course Creators

• Vijay Kumar