Catalog Description: An introduction to the kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing. The course covers forward and inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, and control. It presents elementary principles on proximity, tactile, and force sensing, vision sensors, camera calibration, stereo construction, and motion detection. The course concludes with current applications of robotics in active perception, medical robotics, and other areas.

Units: 4

Prerequisites: EL ENG 120 or consent of instructor.

Formats:
Fall: 3 hours of lecture, 1 hour of discussion, and 3 hours of laboratory per week
Spring: 3 hours of lecture, 1 hour of discussion, and 3 hours of laboratory per week

Grading basis: letter

Final exam status: Written final exam conducted during the scheduled final exam period

Also listed as: BIO ENG C125

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Department Notes: This course is now offered as EECS C106A. See the course information page for EECS C106A.Prerequisites: Familiarity with linear algebra at the level of EECS 16A / EECS 16B or Math 54. Experience coding in python at the level of COMPSCI 61A. Preferred: experience developing software at the level of COMPSCI 61B and experience using Linux.

Related Areas:

• Control, Intelligent Systems, and Robotics (CIR)