Description: Lecture, four hours; outside study, eight hours. Enforced requisite: course 263A. Recommended: course 255B. Dynamics models of serial and parallel robotic manipulators, including review of spatial descriptions and transformations along with direct and inverse kinematics, linear and angular velocities, Jacobian matrix (velocity and force), velocity propagation method, force propagation method, explicit formulation of Jacobian matrix, manipulator dynamics (Newton/Euler formulation, Lagrangian formulation), trajectory generation, introduction to parallel manipulators. Letter grading.

Units: 4.0