EE C125/C215A. Introduction to Robotics


Catalog Description: (4 units) An introduction to the kinematics, dynamics and control of robot manipulators, robotic vision, sensing and the programming of robots; teleoperation. The course will cover forward and inverse kinematics of serial chain manipulators. The manipulator Jacobian, force relations, dynamics and control-position and force control. Trajectory generation, collision avoidance, automatic planning of fine and gross motion strategies; robot programming languages. Proximity, tactile and force sensing. Network modeling, stability, and fidelity in teleoperation. Biological analogies and medical applications of robotics.

Prerequisites: EECS 120 or equivalent, consent of instructor.

Course objectives: The goal of this course is to provide a unified introduction to the area of robotics for advanced undergraduates and beginning graduate students. This course provides a broad exposure to the subject. A key aspect of the course is Biorobotics, which includes biological analogies of robotic systems, teleoperation, and medical applications of robotics. For students interested in further work in robotics, this course provides a useful introduction to more specialized graduate courses, CS 280 (Computer Vision) and CS 287 (Advanced Robotics).

Topics covered:

General Catalog