ESE 447 - Robotics Laboratory

Institution:

Washington University in St Louis

Subject:

Description:

Introduces the students to various concepts such as modeling, identification, model validation and control of robotic systems. The course focuses on the implementation of identification and control algorithms on a two-link robotic manipulator (the so-called pendubot) that is used as an experimental testbed. Topics include: introduction to the mathematical modeling of robotic systems; nonlinear model, linearized model; identification of the linearized model: input-output and state-space techniques; introduction to the identification of the nonlinear model: energy-based techniques; model validation and simulation; stabilization using linear control techniques; a closer look at the dynamics; stabilization using nonlinear control techniques. Prerequisite: ESE 351 or MAE 417.

Credits:

3.00

Credit Hours:

Prerequisites:

Corequisites:

Exclusions:

Level:

Instructional Type:

Lecture

Notes:

Additional Information:

Historical Version(s):

Institution Website:

www.wustl.edu

Phone Number:

(314) 935-5000

Regional Accreditation:

North Central Association of Colleges and Schools

Calendar System:

Semester

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