Advanced Robotics: Mechanics and Control ENSC 890 (3)

Robotic applications are extensively involved in various fields such as manufacturing and health care with new, efficient tools and methods having been developed for modelling and co-ordinating such devices. The main focus of this course is to introduce these tools and methods for kinematic and dynamic modelling approaches. These new approaches allow more intuitive and geometrical representation of motion and interaction in any articulated multi-body system such as robotics devices. The course offers valuable background for students involved in computer graphics (e.g. animation), human/machine interface (e.g. haptic interface), control engineers (e.g. trajectory planning, master/slave system) and robotic designers. The course involves individual projects in modelling and co-ordination of a robotic device. Prerequisite: Introductory course in robotics (ENSC 488) or permission of the instructor.